Wearable devices with interfering bladders for creating haptic feedback

ABSTRACT

A wearable device for providing haptic stimulations is provided. The wearable device includes: (i) a wearable structure to be worn on a portion of a user&#39;s body and (ii) an inflatable bladder, coupled to the wearable structure, that includes two or more pockets positioned at a target location on the wearable structure. Furthermore, the two or more pockets are configured to, when inflated, impart directional force(s) onto the user at the target location that impede movement of the portion of the user&#39;s body. Additionally, the directional force(s) are caused by the two or more pockets interfering with each other, when inflated. In some embodiments, (a) the portion of the user&#39;s body is a hand of the user, (b) the target location is a finger joint on the user&#39;s hand, and (c) the directional force(s) imparted onto the user at the target location impede flexion of the user&#39;s finger.

RELATED APPLICATION

This application claims priority to U.S. Provisional Application Ser.No. 62/911,800, filed Oct. 7, 2019, entitled “Wearable Devices withInterfering Bladders for Creating Haptic Feedback,” which isincorporated by reference herein in its entirety.

TECHNICAL FIELD

This application relates generally to haptic stimulations, includingcreating haptic stimulations on users of artificial-reality devices.

BACKGROUND

Artificial-reality devices (e.g., virtual-reality devices,augmented-reality devices, etc.) have wide applications in variousfields, including engineering design, medical surgery practice, militarysimulated practice, and video gaming. Haptic or kinesthetic stimulationsrecreate the sense of touch by applying forces, vibrations, and/ormotions to a user, and are frequently implemented withartificial-reality devices in the form of a wearable device (sometimesreferred to as a “haptic display” or a “haptic device”).

At a high level, haptic displays can by placed into two broadcategories: (i) rigid haptic displays and (ii) soft haptic displays.Rigid haptic displays are typically exoskeleton-type displays that arebulky and not feasible for commercial artificial-reality systems,especially when placed on user's hand due to their high encumbrance.Soft haptic displays offer more promise because these haptic displaysinclude soft elements, meaning these devices have low encumbrance andare thus better suited for artificial-reality systems. Within the softhaptic display category, a majority of the displays use tendons torender haptic feedback. Doing so, however, induces unnatural parasiticforces at a target location, which significantly lowers the sensory andperceptual believability of the haptic feedback. Existing non-tendontype soft displays either have high encumbrance, low dynamic range dueto issues like buckling of the soft actuator, or are perceptually notappealing. Therefore, existing non-tendon type soft displays are notpractically useful in artificial-reality systems.

SUMMARY

Accordingly, there is a need for devices and systems that can createhaptic stimulations on a user without (i) encumbering the user and (ii)detracting from the artificial-reality experience. One solution is awearable device that includes novel soft haptic actuators that do notsuffer from the drawbacks of existing designs. The designs discussedherein have low encumbrance, moderate dynamic range, and can renderinteractions that are perceptually believable. The soft haptic actuatorsdiscussed herein include one or more inflatable bladders that areconfigured to expand and contract according to fluid pressure withineach bladder. Each bladder is made from flexible, durable materials thatdo not encumber the user but are still able to create adequate hapticstimulations. Further, the bladders are airtight so that a pressureinside the bladders can be varied to create various haptic stimulations(e.g., a bladder can transition rapidly between unpressurized andpressurized states, or vice versa). By changing the pressure, arespective bladder can go from being unpressurized and unnoticed, tobeing pressurized, and it is this transition that creates the hapticstimulations felt by the user. Importantly, the haptic stimulations feltby the user can correspond to media presented to the user by anartificial-reality system (e.g., virtual-reality or augmented-realitydevices).

(A1) In some embodiments, the solution explained above can beimplemented on a wearable device that includes: (i) a wearable structureto be worn on a portion of a user's body, and (ii) at least oneinflatable bladder, coupled to the wearable structure, that includes twoor more pockets positioned at a target location on the wearablestructure. In such embodiments, the two or more pockets are configuredto, when inflated, impart one or more directional forces onto the userat the target location that impede movement of the portion of the user'sbody. Furthermore, the one or more directional forces are caused by thetwo or more pockets interfering with each other, when inflated.

(A2) In accordance with some embodiments, a method is provided. Themethod is performed by the wearable device of (A1). The method includesreceiving an instruction from a computer system (e.g., from the computersystem 130 in FIG. 1) to change fluid pressure in the least oneinflatable bladder. The instruction from the computer system correspondsto media presented to the user by the computer system. The methodfurther includes, in response to receiving the instruction, activating apressure source to change the fluid pressure in the least one inflatablebladder according to the instruction. In some embodiments, the least oneinflatable bladder delivers (e.g., imparts) a haptic stimulation to theuser wearing the wearable structure when the two or more pockets of thebladder expand a threshold amount. To further illustrate, the wearabledevice of (A1) can be in communication with a computer system (e.g., anaugmented-reality device and/or a virtual-reality device, such as thedevices described in FIGS. 10 and 11), and the wearable device canstimulate the body based on an instruction from the computer system. Asan example, the computer system may display media content to a user(e.g., via a head-mounted display), and the computer system may alsoinstruct the wearable device to create haptic stimulations thatcorrespond to the media content displayed to the user and/or otherinformation collected by the wearable device (e.g., via sensors includedwith the wearable device) and/or the head-mounted display. In someembodiments, the computer system activates the pressure source insteadof the wearable device.

(A3) In some embodiments of any of A1 or A2, the two or more pocketsinclude (i) a first pocket with an end portion and a body portion and(ii) a second pocket with an end portion and a body portion. In suchembodiments, (i) the end portion of the second pocket is coupled withthe end portion of the first pocket to form a connection point, and (ii)the body portion of the second pocket is decoupled from the body portionof the first pocket.

(A4) In some embodiments of A3, when the two or more pockets areinflated, the first and second pockets are configured to expand suchthat the body portion of the second pocket and the body portion of thefirst pocket fan out away from the connection point. Furthermore, whenthe two or more pockets are not inflated, the first and second pocketsare configured to collapse such that the body portion of the secondpocket and the body portion of the first pocket are adjacent to eachother (i.e., the first and second pockets lay flat, or are at leastcapable of laying flat).

(A5) In some embodiments of any of A1 or A2, the at least one inflatablebladder further comprises an elongated substrate forming a first side ofthe respective inflatable bladder. In such embodiments, the two or morepockets (i) are coupled to and distributed along a length of theelongated substrate and (ii) form a second side of the respectiveinflatable bladder. In some embodiments, one or more sidewalls extendbecause the first side and the second side of the respective inflatablebladder. In such cases, the elongated substrate may form the one or moresidewalls.

(A6) In some embodiments of A5, when the two or more pockets areinflated, each (or some subset of pockets) pocket is configured toexpand and interfere with at least one other pocket (e.g., a neighboringpocket distributed along the length of the elongated substrate) of thetwo or more pockets. For example, pockets from the two or more pocketspositioned at a finger joint interfere with each other when the userbends his or her finger. Furthermore, when the two or more pockets arenot inflated, the two or more pockets do not impede free movement of theportion of the user's body.

(A7) In some embodiments of any of A5 or A6, the elongated substrate hasa first elasticity, and the two or more pockets have a second elasticitythat is greater than the first elasticity.

(A8) In some embodiments of A7, the elongated substrate is made from aninelastic textile, and the two or more pockets are made from an elasticpolymer.

(A9) In some embodiments of any of A5-A8, the portion of the user's bodyis a hand of the user, and the elongated substrate is sized to fit alonga palmar side of a first finger of the user's hand.

(A10) In some embodiments of any of A1-A9, the portion of the user'sbody is a hand of the user. In such embodiments, the target location isa finger joint on the user's hand and the one or more directional forcesimparted onto the user at the target location impede flexion of theuser's finger. The one or more directional forces imparted onto the userat the target location simulate (i.e., mimic) forces induced by physicalobjects at the finger joint during natural hand-object interaction.

(A11) In some embodiments of any of A1-A10, the wearable device furtherincludes a grounding assembly that is configured to secure the wearablestructure and the at least one inflatable bladder to the user's body.

(A12) In some embodiments of any of A1-A11, the two or more pockets havea predefined shape when inflated to a predefined pressure, and thepredefined shape is dependent, at least in part, on a wall thickness ofeach pocket of the two or more pockets.

(A13) In some embodiments of any of A1-A12, the at least one inflatablebladder is fluidically coupled to a source, and the two or more pocketsare further configured to (i) receive a fluid from the source and (ii)expand in proportion with a fluid pressure inside each pocket.

(A14) In some embodiments of A13, the wearable device also includes aswitchable valve that is configured to switch between an open state anda closed state. In such embodiments, the switchable valve prevents thefluid from exiting (or entering) the two or more pockets when in theclosed state. For example, a pressure inside the at least one inflatablebladder may be increased to some threshold pressure, and in doing so,the two or more pockets expand by some amount. At this point, theswitchable valve is switch from the open state to the closed state, sothat fluid inside the inflatable bladder cannot escape, e.g., inresponse to a user's attempt to move the portion of his or her body.

(A15) In some embodiments of any of A1-A14, the source is incommunication with a computing device, and the source is configured tochange the fluid pressure of the two or more pockets in response toreceiving one or more signals from the computing device. In someembodiments, the computing device also controls the switchable valve.

(A16) In some embodiments of A15, the computing device is incommunication with a head-mounted display that presents content to thewearer, the head-mounted display including an electronic display, andthe one or more signals correspond to content displayed on theelectronic display.

(A17) In some embodiments of any of A15 or A16, the wearable device alsoincludes one or more sensors, coupled to the wearable structure,configured to generate spatial and motion data corresponding to theuser's movements. In such embodiments, the spatial and motion data arecommunicated to the computing device.

(A18) In some embodiments of A17, the one or more signals furthercorrespond to the spatial and motion data corresponding to the user'smovements, and the one or more signals are generated by the computingdevice to impede movement of the portion of the user's body.

(A19) In some embodiments of any of A1-A18, a magnitude of the one ormore directional forces corresponds to a fluid pressure inside the twoor more pockets and a change in geometry of the two or more pocketscaused by the two or more pockets interfering with each other.

(A20) In some embodiments of any of A1-A19, the one or more directionalforces imparted onto the user at the target location simulate forcesinduced by physical objects at the target location (e.g., a fingerjoint) during natural-object interaction.

(A21) In another aspect, an artificial-reality device is provided thatincludes a computer, a fluid/pressure source in communication with thecomputer, and a haptic device in communication with the computer. Thehaptic device has the structure of the wearable device of A1-A19. Theartificial-reality device is configured to perform any of A1-A20. Analternative artificial-reality device includes a wearable device, asource in communication with the wearable device, and a compute incommunication with the wearable device. In these embodiments, thewearable device has the structure of the wearable device of A1-A20.Furthermore, the artificial-reality device system is configured toperform any of A1-A20.

(A22) In yet another aspect, one or more wearable devices are providedand the one or more wearable devices include means for performing anyone of A1-A20.

(A23) In still another aspect, a non-transitory computer-readablestorage medium is provided (e.g., as a memory device, such as externalor internal storage, that is in communication with a wearable device).The non-transitory computer-readable storage medium stores executableinstructions that, when executed by a computer with one or moreprocessors/cores, cause the computer to perform any one of A1-A20.

(B1) In accordance with some embodiments, another wearable device isprovided that includes: (i) a wearable structure to be worn on a portionof a user's body, and (ii) an inflatable bladder, coupled to thewearable structure at a target location, that includes opposing firstand second surfaces, the inflatable bladder being configured to receivea fluid from a source. In such embodiments, the first surface of theinflatable bladder includes a plurality of barbs positioned to interactwith the user's body at the target location, whereby the plurality ofbarbs are configured to protrude from the first surface in response tothe inflatable bladder receiving the fluid from the source.

(B2) In accordance with some embodiments, a method is provided. Themethod is performed by the wearable device of (B1). The method includesreceiving an instruction from a computer system (e.g., from the computersystem 130 in FIG. 1) to change fluid pressure in the inflatablebladder. The instruction from the computer system corresponds to mediapresented to the user by the computer system. The method furtherincludes, in response to receiving the instruction, activating apressure source to change the fluid pressure in the inflatable bladderaccording to the instruction. In some embodiments, the inflatablebladder delivers (e.g., imparts) a haptic stimulation to the userwearing the wearable structure when the bladder expand a thresholdamount. To further illustrate, the wearable device of (B1) can be incommunication with a computer system (e.g., an augmented-reality deviceand/or a virtual-reality device, such as the devices described in FIGS.10 and 11), and the wearable device can stimulate the body based on aninstruction from the computer system. As an example, the computer systemmay display media content to a user (e.g., via a head-mounted display),and the computer system may also instruct the wearable device to createhaptic stimulations that correspond to the media content displayed tothe user and/or other information collected by the wearable device(e.g., via sensors included with the wearable device) and/or thehead-mounted display. In some embodiments, the computer system activatesthe pressure source instead of the wearable device.

(B3) In some embodiments of any of B1 or B2, the first surface of theinflatable bladder transitions from a concave shape to a convex shape inresponse to the inflatable bladder receiving the fluid from the source.

(B4) In some embodiments of B3, the convex shape of the first surfacecauses the plurality of barbs to protrude from the first surface.

(B5) In some embodiments of any of B3 or B4, the concave shape of thefirst surface of the inflatable bladder complements a profile of theuser's body at the target location.

(B6) In some embodiments of any of B1-B5, barbs in the plurality ofbarbs are arranged in the predefined pattern, and the predefined patternis defined according to a profile of the user's body at the targetlocation.

(B7) In some embodiments of B6, respective shapes of the barbs in theplurality of barbs are also defined according to the profile of theuser's body at the target location.

(B8) In some embodiments of any of B6 or B7, respective depths of thebarbs in the plurality of barbs are defined according to the profile ofthe user's body at the target location.

(B9) In some embodiments of any of B1-B8, the first surface of theinflatable bladder is made from an elastic material, and the secondsurface of the inflatable bladder is (i) made from an inelastic materialand (ii) positioned to not interact with the portion of the user's body(i.e., the second surface of the inflatable bladder faces away from theuser's body).

(B10) In some embodiments of any of B1-B9, a roughness (bumpiness,coarseness) of the first surface of the inflatable bladder increaseswith a fluid pressure inside the inflatable bladder.

(B11) In some embodiments of B10, the first surface of the inflatablebladder is configured to have a maximum roughness when the fluidpressure inside the inflatable bladder reaches a maximum pressure.

(B12) In some embodiments of any of B1-B11, the plurality of barbsincluded with the first surface of the inflatable bladder is furtherconfigured to impart a haptic stimulation to the user's body at thetarget location in response to the inflatable bladder receiving thefluid from the source (e.g., when the fluid pressure inside theinflatable bladder satisfies a threshold pressure).

(B13) In some embodiments of any of B1-B12, the first surface of theinflatable bladder has a first texture when the fluid pressure insidethe inflatable bladder is at a first pressure. For example, the firstsurface of the inflatable bladder has a uniform, soft texture. Incontrast, the first surface of the inflatable bladder has a secondtexture when the fluid pressure inside the inflatable bladder is at asecond pressure greater than the first pressure. For example, the firstsurface of the inflatable bladder has a spiked, firm texture, caused bythe plurality of barbs protruding from the first surface.

(B14) In some embodiments of any of B1-B13, when the inflatable bladderis in a first pressurized state, the first surface of the inflatablebladder is adjacent to the second surface of the inflatable bladder.Furthermore, in the first pressurized state, the plurality of barbs arein a default-planar state such that, to a human touch, the plurality ofbarbs feel smooth and uniform. When the inflatable bladder is in asecond pressurized state, the first surface of the inflatable bladderbulges away from the second surface of the inflatable bladder, causingthe plurality of barbs to protrude from the first surface. Put anotherway, when the inflatable bladder is pressurized, the inflatable bladderbehaves similar to a pufferfish, in that the first surface of theinflatable bladder inflates and becomes spiked. Note that the secondsurface is static/elastic and, consequently, the second surface does notbulge. Because the second surface remains more or less planar, even whenthe inflatable bladder is pressurized, the first surface is able toexpand (i.e., displace) a significant amount.

(B15) In some embodiments of B14, when the inflatable bladder is in thefirst pressurized state, first distances separate barbs in the pluralityof barbs (more specifically, the first distances separate tips of theplurality of barbs). When the inflatable bladder is in the secondpressurized state, second distances greater than the first distancesseparate the barbs in the plurality of barbs (more specifically, thesecond distances separate tips of the plurality of barbs).

(B16) In some embodiments of any of B1-B15, the source is incommunication with a computing device, and the source is configured tochange the fluid pressure of the two or more pockets in response toreceiving one or more signals from the computing device. In someembodiments, the computing device also controls the switchable valve.

(B17) In some embodiments of B16, the computing device is incommunication with a head-mounted display that presents content to thewearer, the head-mounted display including an electronic display, andthe one or more signals correspond to content displayed on theelectronic display.

(B18) In some embodiments of any of B16 or B11, the wearable device alsoincludes one or more sensors, coupled to the wearable structure,configured to generate spatial and motion data corresponding to theuser's movements. In such embodiments, the spatial and motion data arecommunicated to the computing device.

(B19) In some embodiments of B18, the one or more signals furthercorrespond to the spatial and motion data corresponding to the user'smovements, and the one or more signals are generated by the computingdevice to impede movement of the portion of the user's body.

(B20) In some embodiments of any of B1-B19, the wearable device furtherincludes a second inflatable bladder, coupled to the wearable structureat a different target location, configured to receive the fluid from thesource. In such embodiments, a surface of the second inflatable bladderincludes a second plurality of barbs positioned to interact with theuser's body at the different target location, the second plurality ofbarbs being configured to protrude from the surface in response to thesecond inflatable bladder receiving the fluid from the source. In someembodiments, the first plurality of barbs are arranged in a pattern thatdiffers from a pattern of the second plurality of barbs. For example,the first plurality of barbs are arrangement in a pattern that isoptimize for the target location while the second plurality of barbs arearrangement in a pattern that is optimize for the different targetlocation.

(B21) In another aspect, an artificial-reality device is provided thatincludes a computer, a fluid/pressure source in communication with thecomputer, and a haptic device in communication with the computer. Thehaptic device has the structure of the wearable device of A1-A19. Theartificial-reality device is configured to perform any of B1-B19. Analternative artificial-reality device includes a wearable device, asource in communication with the wearable device, and a compute incommunication with the wearable device. In these embodiments, thewearable device has the structure of the wearable device of B1-B19.Furthermore, the artificial-reality device system is configured toperform any of B1-B19.

(B22) In yet another aspect, one or more wearable devices are providedand the one or more wearable devices include means for performing anyone of B1-B19.

(B23) In still another aspect, a non-transitory computer-readablestorage medium is provided (e.g., as a memory device, such as externalor internal storage, that is in communication with a wearable device).The non-transitory computer-readable storage medium stores executableinstructions that, when executed by a computer with one or moreprocessors/cores, cause the computer to perform any one of B1-B19.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the various described embodiments,reference should be made to the Description of Embodiments below, inconjunction with the following drawings in which like reference numeralsrefer to corresponding parts throughout the figures and specification.

FIG. 1 is a block diagram illustrating an example haptics system, inaccordance with various embodiments.

FIG. 2 is a schematic of an example haptics system in accordance withsome embodiments.

FIGS. 3A and 3B show example inflatable bladders in an unpressurizedstate in accordance with some embodiments.

FIGS. 3C and 3D show cross-sectional views of the inflatable bladder(taken along line A-A¹ in FIG. 3A).

FIG. 3E shows an example inflatable bladder in a pressurized state inaccordance with some embodiments.

FIG. 4 shows an example wearable device with a plurality of inflatablebladders in accordance with some embodiments.

FIG. 5A shows a simplified inflatable bladder that includes multiplepockets in an unpressurized state in accordance with some embodiments.

FIG. 5B shows the simplified inflatable bladder of FIG. 5A in apressurized state in accordance with some embodiments.

FIG. 5C shows the simplified inflatable bladder of FIG. 5A in adifferent pressurized state in accordance with some embodiments.

FIG. 5D shows the multiple pockets interfering with each other, inaccordance with some embodiments.

FIG. 6A shows an example haptic-feedback assembly on a portion of auser's body in accordance with some embodiments.

FIGS. 6B and 6C show a representative inflatable bladder in differentstates in accordance with some embodiments.

FIG. 6D shows another representative inflatable bladder in accordancewith some embodiments.

FIGS. 7A and 7B show top and bottom views, respectively, of arepresentative inflatable bladder in accordance with some embodiments.

FIGS. 7C and 7D show the representative inflatable bladder of FIGS. 7Aand 7B in different pressurized states in accordance with someembodiments.

FIG. 7E shows an example wearable device that includes multipleinstances of the inflatable bladder of FIGS. 7A and 7B in accordancewith some embodiments.

FIGS. 8A-8C show another representative inflatable bladder in differentpressurized states in accordance with some embodiments.

FIG. 9 is a flow diagram illustrating a method of creating hapticstimulations in accordance with some embodiments.

FIG. 10 illustrates an embodiment of an artificial-reality device.

FIG. 11 illustrates an embodiment of an augmented-reality headset and acorresponding neckband.

FIG. 12 illustrates an embodiment of a virtual-reality headset.

DESCRIPTION OF EMBODIMENTS

Reference will now be made to embodiments, examples of which areillustrated in the accompanying drawings. In the following description,numerous specific details are set forth in order to provide anunderstanding of the various described embodiments. However, it will beapparent to one of ordinary skill in the art that the various describedembodiments may be practiced without these specific details. In otherinstances, well-known methods, procedures, components, circuits, andnetworks have not been described in detail so as not to unnecessarilyobscure aspects of the embodiments.

It will also be understood that, although the terms first, second, etc.are, in some instances, used herein to describe various elements, theseelements should not be limited by these terms. These terms are used onlyto distinguish one element from another. For example, a first bladdercould be termed a second bladder, and, similarly, a second bladder couldbe termed a first bladder, without departing from the scope of thevarious described embodiments. The first bladder and the second bladderare both bladders, but they are not the same bladder.

The terminology used in the description of the various describedembodiments herein is for the purpose of describing particularembodiments only and is not intended to be limiting. As used in thedescription of the various described embodiments and the appendedclaims, the singular forms “a,” “an,” and “the” are intended to includethe plural forms as well, unless the context clearly indicatesotherwise. It will also be understood that the term “and/or” as usedherein refers to and encompasses any and all possible combinations ofone or more of the associated listed items. It will be furtherunderstood that the terms “includes,” “including,” “comprises,” and/or“comprising,” when used in this specification, specify the presence ofstated features, steps, operations, elements, and/or components, but donot preclude the presence or addition of one or more other features,steps, operations, elements, components, and/or groups thereof.

As used herein, the term “if” means “when” or “upon” or “in response todetermining” or “in response to detecting” or “in accordance with adetermination that,” depending on the context. Similarly, the phrase “ifit is determined” or “if [a stated condition or event] is detected”means “upon determining” or “in response to determining” or “upondetecting [the stated condition or event]” or “in response to detecting[the stated condition or event]” or “in accordance with a determinationthat [a stated condition or event] is detected,” depending on thecontext.

As used herein, the term “exemplary” is used in the sense of “serving asan example, instance, or illustration” and not in the sense of“representing the best of its kind.”

FIG. 1 is a block diagram illustrating an artificial-reality system 100in accordance with various embodiments. While some example features areillustrated, various other features have not been illustrated for thesake of brevity and so as not to obscure pertinent aspects of theexample embodiments disclosed herein. To that end, as a non-limitingexample, the system 100 includes one or more wearable devices 120(sometimes referred to as “wearable apparatuses,” or simply“apparatuses”), which are used in conjunction with a computer system 130(sometimes referred to as a “computer device” or a “remote computerdevice”) and a head-mounted display 110. In some embodiments, the system100 provides the functionality of a virtual-reality device with hapticfeedback, an augmented-reality device with haptic feedback, amixed-reality device with haptic feedback, or a combination thereof. Thehead-mounted display 110 presents media to a user. Examples of mediapresented by the head-mounted display 110 include images, video, audio,or some combination thereof. In some embodiments, audio is presented viaan external device (e.g., speakers and/or headphones), which receivesaudio information from the head-mounted display 110, the computer system130, or both, and presents audio data based on the audio information.

The head-mounted display 110 includes an electronic display 112, sensors114, and a communication interface 116. The electronic display 112displays images to the user in accordance with data received from thecomputer system 130. In various embodiments, the electronic display 112comprises a single electronic display 112 or multiple electronicdisplays 112 (e.g., one display for each eye of a user).

The sensors 114 include one or more hardware devices that detect spatialand motion information about the head-mounted display 110. Spatial andmotion information can include information about the position,orientation, velocity, rotation, and acceleration of the head-mounteddisplay 110. For example, the sensors 114 may include one or moreinertial measurement units (IMUs) that detect rotation of the user'shead while the user is wearing the head-mounted display 110. Thisrotation information can then be used (e.g., by the engine 134) toadjust the images displayed on the electronic display 112. In someembodiments, each IMU includes one or more gyroscopes, accelerometers,and/or magnetometers to collect the spatial and motion information. Insome embodiments, the sensors 114 include one or more cameras positionedon the head-mounted display 110.

The communication interface 116 enables input and output to the computersystem 130. In some embodiments, the communication interface 116 is asingle communication channel, such as HDMI, USB, VGA, DVI, orDisplayPort. In other embodiments, the communication interface 116includes several distinct communication channels operating together orindependently. In some embodiments, the communication interface 116includes hardware capable of data communications using any of a varietyof custom or standard wireless protocols (e.g., IEEE 802.15.4, Wi-Fi,ZigBee, 6LoWPAN, Thread, Z-Wave, Bluetooth Smart, ISA100.11a,WirelessHART, or MiWi) and/or any other suitable communication protocol.The wireless and/or wired connections may be used for sending datacollected by the sensors 114 from the head-mounted display to thecomputer system 130. In such embodiments, the communication interface116 may also receive audio/visual data to be rendered on the electronicdisplay 112.

The wearable device 120 includes a wearable structure worn by the user(e.g., a glove, a shirt, wristband, pants, etc.). In some embodiments,the wearable device 120 collects information about a portion of theuser's body (e.g., the user's hand) that can be used as input forartificial-reality applications 132 executing on the computer system130. In the illustrated embodiment, the wearable device 120 includes ahaptic-feedback mechanism 122, sensors 124, and a communicationinterface 126. The wearable device 120 may include additional componentsthat are not shown in FIG. 1, such as a power source (e.g., anintegrated battery, a connection to an external power source, acontainer containing compressed air, or some combination thereof), oneor more processors, memory, a display, microphones, and speakers.

The haptic-feedback mechanism 122 provides haptic feedback (i.e., hapticstimulations) to a portion of the user's body (e.g., hand, wrist, arm,leg, etc.). The haptic feedback may be a vibration stimulation, apressure stimulation, or some combination thereof. To accomplish this,the haptic-feedback mechanism 122 includes one or more inflatablebladders 204, each of which is configured to inflate and apply a forceto the portion of the user's body. Various embodiments of thehaptic-feedback mechanism 122 are described with reference to FIGS. 3Athrough 8C. It is also noted that the haptic-feedback mechanism 122 maybe used to improve coupling (e.g., fit) of the wearable device 120 tothe user. For example, instead of (or in addition to) providing a hapticstimulation, one or more bladders 204 of the plurality of inflatablebladders 204 are inflated to varying degrees such that contact is madewith the user's body. The contacting bladders prevent the wearabledevice 120 from moving (e.g., sliding or rotating) when attached to theuser's body.

In some embodiments, the sensors 124 include one or more hardwaredevices that detect spatial and motion information about the wearabledevice 120. Spatial and motion information can include information aboutthe position, orientation, velocity, rotation, and acceleration of thewearable device 120 or any subdivisions of the wearable device 120, suchas fingers, fingertips, knuckles, the palm, or the wrist when thewearable device 120 is worn near the user's hand. The sensors 124 may beIMUs, as discussed above with reference to the sensors 114. The sensors124 may include one or more hardware devices that monitor a state of arespective bladder 204 of the haptic-feedback mechanism 122.

The communication interface 126 enables input and output to the computersystem 130. In some embodiments, the communication interface 126 is asingle communication channel, such as USB. In other embodiments, thecommunication interface 126 includes several distinct communicationchannels operating together or independently. For example, thecommunication interface 126 may include separate communication channelsfor receiving control signals for the haptic-feedback mechanism 122 andsending data from the sensors 124 to the computer system 130. The one ormore communication channels of the communication interface 126 can beimplemented as wired or wireless connections. In some embodiments, thecommunication interface 126 includes hardware capable of datacommunications using any of a variety of custom or standard wirelessprotocols (e.g., IEEE 802.15.4, Wi-Fi, ZigBee, 6LoWPAN, Thread, Z-Wave,Bluetooth Smart, ISA100.11a, WirelessHART, or MiWi), custom or standardwired protocols (e.g., Ethernet or HomePlug), and/or any other suitablecommunication protocol, including communication protocols not yetdeveloped as of the filing date of this document.

The computer system 130 is a computing device that executesartificial-reality applications (e.g., virtual-reality applications,augmented-reality applications, or the like) to process input data fromthe sensors 114 on the head-mounted display 110 and the sensors 124 onthe wearable device 120. The computer system 130 provides output datafor (i) the electronic display 112 on the head-mounted display 110 and(ii) the haptic-feedback mechanism 122 on the wearable device 120.

The computer system includes a communication interface 136 that enablesinput and output to other devices in the system 100. The communicationinterface 136 is similar to the communication interface 116 and thecommunication interface 126.

In some embodiments, the computer system 130 sends instructions (e.g.,the output data) to the wearable device 120. In response to receivingthe instructions, the wearable device 120 creates one or more hapticstimulations (e.g., activates one or more of the bladders 204).Alternatively, in some embodiments, the computer system 130 sendsinstructions to an external device, such as a fluid (pressure) source(e.g., source 210, FIG. 2), and in response to receiving theinstructions, the external device creates one or more hapticstimulations (e.g., the output data bypasses the wearable device 120).Alternatively, in some embodiments, the computer system 130 sendsinstructions to the wearable device 120, which in turn sends theinstructions to the external device. The external device then createsone or more haptic stimulations by adjusting fluid pressure in one ormore of the bladders 204. Although not shown, in the embodiments thatinclude a distinct external device, the external device may be connectedto the head-mounted display 110, the wearable device 120, and/or thecomputer system 130 via a wired or wireless connection. The externaldevice may be a pneumatic device, a hydraulic device, some combinationthereof, or any other device capable of adjusting pressure.

The computer system 130 can be implemented as any kind of computingdevice, such as an integrated system-on-a-chip, a microcontroller, adesktop or laptop computer, a server computer, a tablet, a smart phoneor other mobile device. Thus, the computer system 130 includescomponents common to typical computing devices, such as a processor,random access memory, a storage device, a network interface, an I/Ointerface, and the like. The processor may be or include one or moremicroprocessors or application specific integrated circuits (ASICs). Thememory may be or include RAM, ROM, DRAM, SRAM and MRAM, and may includefirmware, such as static data or fixed instructions, BIOS, systemfunctions, configuration data, and other routines used during theoperation of the computing device and the processor. The memory alsoprovides a storage area for data and instructions associated withapplications and data handled by the processor.

The storage device provides non-volatile, bulk, or long term storage ofdata or instructions in the computing device. The storage device maytake the form of a magnetic or solid state disk, tape, CD, DVD, or otherreasonably high capacity addressable or serial storage medium. Multiplestorage devices may be provided or available to the computing device.Some of these storage devices may be external to the computing device,such as network storage or cloud-based storage. The network interfaceincludes an interface to a network and can be implemented as eitherwired or wireless interface. The I/O interface interfaces the processorto peripherals (not shown) such as, for example and depending upon thecomputing device, sensors, displays, cameras, color sensors,microphones, keyboards, and USB devices.

In the example shown in FIG. 1, the computer system 130 further includesartificial-reality applications 132 and an artificial-reality engine134. In some embodiments, the artificial-reality applications 132 andthe artificial-reality engine 134 are implemented as software modulesthat are stored on the storage device and executed by the processor.Some embodiments of the computer system 130 include additional ordifferent components than those described in conjunction with FIG. 1.Similarly, the functions further described below may be distributedamong components of the computer system 130 in a different manner thanis described here.

Each artificial-reality application 132 is a group of instructions that,when executed by a processor, generates virtual-reality content forpresentation to the user. A artificial-reality application 132 maygenerate artificial-reality content in response to inputs received fromthe user via movement of the head-mounted display 110 or the wearabledevice 120. Examples of artificial-reality applications 132 includegaming applications, conferencing applications, and video playbackapplications.

The artificial-reality engine 134 is a software module that allowsartificial-reality applications 132 to operate in conjunction with thehead-mounted display 110 and the wearable device 120. In someembodiments, the artificial-reality engine 134 receives information fromthe sensors 114 on the head-mounted display 110 and provides theinformation to an artificial-reality application 132. Based on thereceived information, the artificial-reality engine 134 determines mediacontent to provide to the head-mounted display 110 for presentation tothe user via the electronic display 112 and/or a type of haptic feedbackto be created by the haptic-feedback mechanism 122 of the wearabledevice 120. For example, if the artificial-reality engine 134 receivesinformation from the sensors 114 on the head-mounted display 110indicating that the user has looked to the left, the artificial-realityengine 134 generates content for the head-mounted display 110 thatmirrors the user's movement in a virtual environment.

Similarly, in some embodiments, the artificial-reality engine 134receives information from the sensors 124 on the wearable device 120 andprovides the information to an artificial-reality application 132. Theapplication 132 can use the information to perform an action within theartificial world of the application 132. For example, if theartificial-reality engine 134 receives information from the sensors 124that the user has closed his fingers around a position corresponding toa coffee mug in the artificial environment and raised his hand, asimulated hand in the artificial-reality application 132 picks up theartificial coffee mug and lifts it to a corresponding height. As notedabove, the information received by the artificial-reality engine 134 canalso include information from the head-mounted display 110. For example,cameras on the head-mounted display 110 may capture movements of thewearable device 120, and the application 132 can use this additionalinformation to perform the action within the artificial world of theapplication 132.

In some embodiments, the artificial-reality engine 134 provides feedbackto the user that the action was performed. The provided feedback may bevisual via the electronic display 112 in the head-mounted display 110(e.g., displaying the simulated hand as it picks up and lifts thevirtual coffee mug) and/or haptic feedback via the haptic-feedbackmechanism 122 in the wearable device 120. For example, the hapticfeedback may vibrate in a certain way to simulate the sensation offiring a firearm in an artificial-reality video game. To do this, thewearable device 120 changes (either directly or indirectly) fluidpressure of one or more of bladders of the haptic-feedback mechanism122. When inflated by a threshold amount (and/or inflated at a thresholdfrequency, such as at least 5 Hz), a respective bladder of thehaptic-feedback mechanism 122 presses against the user's body, resultingin the haptic feedback.

In another example, the haptic-feedback mechanism 122 may inhibitmovement of the user's fingers from curling past a certain point tosimulate, e.g., the sensation of touching a solid coffee mug. To dothis, the wearable device 120 changes (either directly or indirectly) apressurized state (i.e., inflates) of two or more bladders 204 (or asingle bladder that includes multiple pockets). Once inflated, the twoor more bladders 204 are configured to interfere with each other (i.e.,press or push against each other) when the user attempts to curl hisfingers. Interference of the bladders (or their respective pockets)creates forces on the finger phalanges, as one example, in a directionvery similar to the forces induced by physical objects during naturalhand-object interaction (i.e., simulate the forces that would actuallybe felt by a user when he or she touches (and lifts) a solid coffee mugin the real world).

In view of the examples above, the wearable device 120 is used tofurther immerse the user in artificial-reality experience such that theuser not only sees (at least in some instances) the data on thehead-mounted display 110, but the user may also “feel” certain aspectsof the displayed data. Moreover, the wearable device 120 is designed tolimit encumbrances imposed onto the user, at least when encumbrances arenot desired.

To provide some additional context, the bladders described herein areconfigured to transition between a first pressurized state and a secondpressurized state to provide haptic feedback to the user. Due to theever-changing nature of virtual and augmented reality, the bladders maybe required to transition between the two states hundreds, or perhapsthousands of times, during a single use. Thus, the bladders describedherein are durable and designed to quickly transition from state tostate (e.g., within 10 milliseconds). In the first pressurized state, arespective bladder is unpressurized (or a fluid pressure inside therespective bladder is below a threshold pressure) and does not providehaptic feedback to a portion of the wearer's body. However, once in thesecond pressurized state (e.g., the fluid pressure inside the respectivebladder reaches the threshold pressure), the respective bladder isconfigured to expand, and in some cases, resist movement of the portionof the wearer's body.

FIG. 2 is a schematic of the system 100 in accordance with someembodiments. The components in FIG. 2 are illustrated in a particulararrangement for ease of illustration and one skilled in the art willappreciate that other arrangements are possible. Moreover, while someexample features are illustrated, various other features have not beenillustrated for the sake of brevity and so as not to obscure pertinentaspects of the example implementations disclosed herein.

As a non-limiting example, the system 100 includes a plurality ofwearable devices 120-A, 120-B, . . . 120-M, each of which includes awearable structure 202 and a haptic-feedback mechanism 122. Eachhaptic-feedback mechanism 122 includes one or more bladders 204, and asexplained above, the one or more bladders 204 are configured to providehaptic stimulations to a wearer of the wearable device 120. The wearablestructure 202 of each wearable device 120 can be various articles ofclothing (e.g., gloves, socks, shirts, or pants) or other wearablestructure (e.g., watch band), and thus, the user may wear multiplewearable devices 120 that provide haptic stimulations to different partsof the body. In some embodiments, the wearable structure 202 is madefrom an elastic material, thereby allowing the wearable device 120 tofit various users.

Each bladder 204 is integrated with (e.g., embedded in or coupled to)the wearable structure 202. The bladder 204 is a sealed, inflatablepocket made from a durable, puncture resistance material (at leastpartially), such as thermoplastic polyurethane (TPU) or the like. Eachbladder 204 is configured to expand or contract according to fluidpressure within each bladder. Fluid as used herein can be various media,including air, an inert gas, or a liquid. In some embodiments, eachbladder 204 delivers (e.g., imparts) a haptic stimulation to the userwearing the wearable structure 202 when the bladder expands a thresholdamount (i.e., a fluid pressure within the bladder reaches a thresholdpressure). The threshold amount of expansion can range from 1 mm to 15mm. In some embodiments, each bladder 204 can also deliver a hapticstimulation to the user wearing the wearable structure 202 when thebladder expands and contracts at a threshold frequency (e.g., greaterthan approximately 5 Hz).

In other embodiments, two or more neighboring bladders 204 deliver ahaptic stimulation to the user wearing the wearable structure 202 whenthe bladders each expand a threshold amount (i.e., a fluid pressurewithin the bladder reaches a threshold pressure). In these embodiments,the haptic stimulation may be imparted onto the user upon expansion ofthe bladders 204, and/or when the user moves the portion of his or herbody where the bladders 204 are coupled to (e.g., user attempts to curlhis or her finger when the bladders 204 are positioned adjacent to apalmer surface of the user's finger). When the user moves, the two ormore neighboring bladders 204 interfere with each other, therebypreventing the user from any further movement.

In some embodiments, a single bladder 204 includes two or more pockets220-A, 220-B that are configured to expand and contract according to afluid pressure inside the inflatable bladder 204. Furthermore, the twoor more pockets 220-A, 220-B are configured to deliver a hapticstimulation to the user wearing the wearable structure 202 when a fluidpressure within the bladder 204 reaches a threshold pressure. Like theprevious embodiments, when the user moves, the two or more two or morepockets 220-A, 220-B interfere with each other, thereby preventing theuser from any further movement.

The system 100 also includes a controller 214 and a fluid source 210(e.g., a pneumatic device). In some embodiments, the controller 214 ispart of the computer system 130 (e.g., the processor of the computersystem 130). Alternatively, in some embodiments, the controller 214 ispart of the wearable device 120. The controller 214 is configured tocontrol operation of the source 210, and in turn the operation (at leastpartially) of the wearable devices 120. For example, the controller 214sends one or more signals to the source 210 to activate the source 210(e.g., turn it on and off). The one or more signals may specify adesired pressure (e.g., 0.5 to 40 pounds-per-square inch, PSI) to beoutput by the source 210. Additionally, the one or more signals mayspecify a desired frequency for outputting the desired pressure (e.g.,0.5 Hz to 50 Hz). The one or more signals may further specify one ormore of: (i) one or more target bladders 204 to be inflated and (ii) apattern of inflation for the one or more target bladders 204.

Generation of the one or more signals, and in turn the pressure outputby the source 210, may be based on information collected by the HMDsensors 114 and/or the wearable device sensors 124. For example, the oneor more signals may cause the source 210 to increase the pressure insideone or more bladders 204 of a first wearable device 120 at a first time,based on the information collected by the sensors 114 and/or the sensors124 (e.g., the user makes contact with the virtual coffee mug or fires avirtual firearm). Then, the controller 214 may send one or moreadditional signals to the source 210 that cause the source 210 tofurther increase the pressure inside the one or more bladders 204 of thefirst wearable device 120 at a second time after the first time, basedon additional information collected by the sensors 114 and/or thesensors 124 (e.g., the user grasps and lifts the virtual coffee mug).Further, the one or more signals may cause the source 210 to inflate oneor more bladders 204 in a first wearable device 120-A, while one or morebladders 204 in a second wearable device 120-B remain unchanged (or areinflated to some other pressure). Additionally, the one or more signalsmay cause the source 210 to inflate one or more bladders 204 in thefirst wearable device 120-A to a first pressure and inflate one or moreother bladders 204 in the first wearable device 120-A to a secondpressure different from the first pressure. Depending on the number ofwearable devices 120 serviced by the source 210, and the number ofbladders therein, many different inflation configurations can beachieved through the one or more signals and the examples above are notmeant to be limiting.

In some embodiments, the system 100 includes a manifold 212 between thesource 210 and the wearable devices 120. In some embodiments, themanifold 212 includes one or more valves (not shown) that fluidically(e.g., pneumatically) couple each of the haptic-feedback mechanisms 122with the source 210 via tubing 208 (also referred to herein as“conduits”). In some embodiments, the tubing is ethylene propylene dienemonomer (EPDM) rubber tubing with 1/32″ inner diameter (various othertubing can also be used). In some embodiments, the manifold 212 is incommunication with the controller 214, and the controller 214 controlsthe one or more valves of the manifold 212 (e.g., the controllergenerates one or more control signals). The manifold 212 is configuredto switchably couple the source 210 with the bladders 204 of the same ordifferent wearable devices 120 based on one or more control signals fromthe controller 214. In some embodiments, instead of the manifold 212being used to fluidically couple the source 210 with the haptic-feedbackmechanisms 122, the system 100 includes multiple sources 210, where eachis fluidically coupled directly with a single (or multiple) bladder(s)204. In some embodiments, the source 210 and the optional manifold 212are configured as part of one or more of the wearable devices 120 (notillustrated) while, in other embodiments, the source 210 and theoptional manifold 212 are configured as external to the wearable device120. A single source 210 may be shared by multiple wearable devices 120.

In some embodiments, the manifold 212 includes one or more back-flowvalves 215 that is configured to selectively open and close to regulatefluid flow between the manifold 212 from the bladders 204. When closed,the one or more back-flow valves 215 stop fluid flowing from thebladders 204 back to the manifold 212. In some other embodiments, theone or more back-flow valves 215 are distinct components separate fromthe manifold 212.

In some embodiments, the source 210 is a pneumatic device, hydraulicdevice, a pneudraulic device, or some other device capable of adding andremoving a medium from the one or more bladders 204. In other words, thediscussion herein is not limited to pneumatic devices, but for ease ofdiscussion, pneumatic devices are used as the primary example in thediscussion below.

The devices shown in FIG. 2 may be coupled via a wired connection (e.g.,via busing 108). Alternatively, one or more of the devices shown in FIG.2 may be wirelessly connected (e.g., via short-range communicationsignals).

Various embodiments of the haptic-feedback mechanism 122 are illustratedand described below. For example, a first embodiment of thehaptic-feedback mechanism 122 is illustrated and described withreference to FIGS. 3A-3E. A second embodiment of the haptic-feedbackmechanism 122 is illustrated and described with reference to FIGS.6A-6D. A third embodiment of the haptic-feedback mechanism 122 isillustrated and described with reference to FIG. 7A-7E. A fourthembodiment of the haptic-feedback mechanism 122 is illustrated anddescribed with reference to FIG. 8A-8C. Note that while the embodimentsof the haptic-feedback mechanism 122 are discussed separately, in someembodiments, a representative wearable device 120 may include one ormore of the embodiments discussed below.

First Embodiment—Inflatable Bladders with Texturized Surfaces

FIGS. 3A and 3B show example inflatable bladders 300 in an unpressurizedstate in accordance with some embodiments. In particular, FIG. 3A showsa first example inflatable bladder 300-A that includes a plurality ofbarbs 302 arranged in a first pattern while FIG. 3B shows a secondexample inflatable bladder 300-B that includes a plurality of barbs 302arranged in a second pattern different from the first pattern. Theinflatable bladders 300 in FIGS. 3A and 3B are examples of theinflatable bladders 204 discussed above with reference to FIG. 2.

The inflatable bladders 300-A, 300-B are configured to be coupled to (orotherwise integrated with) a wearable structure 202 and also interactwith a user's body at a target location. To illustrate, if the targetlocation on the user's body is the proximal interphalangeal joint of theuser's right index finger (palmer side), then the inflatable bladder 300is coupled to the wearable structure 202 (e.g., glove) at a locationthat allows the inflatable bladder 300 to interact with the user's bodyat the target location (i.e., the inflatable bladder 300 is coupled tothe wearable structure 202 one-third of the way up the portion of thewearable structure 202 configured to receive the user's right indexfinger). Each bladder 300 is configured to expand and contract accordingto fluid pressure within each bladder 204. Furthermore, each bladder 300delivers (e.g., imparts) a haptic stimulation to the user wearing thewearable structure 202 when the bladder 300 expands a threshold amount(and/or vibrates at a threshold frequency), as shown in FIG. 3E.

As mentioned above, each bladder 300 includes a plurality of barbs 302.The plurality of barbs 302 may be integrally formed with the bladder 300or may be attached to a surface of the bladder 300. The plurality ofbarbs 302 may be made from the same material or a different materialthan the material of the surface of the bladder 300. When the inflatablebladder 300 is coupled to the wearable structure 202 and the wearablestructure 202 is donned by a user, the plurality of barbs 302 arepositioned adjacent to (e.g., facing) the user's body. In other words,the plurality of barbs 302 are configured to press against or otherwiseinteract with the user's body when the wearable device 120 is worn. Aswill be discussed in more detailed below with respect to FIG. 3E, theplurality of barbs 302 are configured to protrude from a surface of theinflatable bladder 300 (e.g., like the spikes of a pufferfish) inresponse to the inflatable bladder 300 receiving fluid from the source210. Accordingly, not only does the user feel the expansion of thebladder 300, but the user also feels a distinct interaction caused bythe protruding barbs 302 (FIG. 3E) pressing against the user's body.

In some embodiments, the plurality of barbs 302 are arranged in auniform pattern, such that the barbs 302 are equally spaced from oneanother and each barb 302 has the same (or substantially similar) shape.In some other embodiments, the plurality of barbs 302 are arranged in anon-uniform pattern, such that the barbs 302 may have different shapesand/or spacings. A pattern (uniform or non-uniform) of the plurality ofbarbs 302 can be defined according to a profile of the user's body atthe target location. For example, if the target location is a palmersurface of the user's index finger, then the pattern of the plurality ofbarbs 302 may be defined according to a profile of the palmer surface ofthe user's finger. In another example, if the target location is apalmer surface of the user's right thumb, then the pattern of theplurality of barbs 302 may be defined according to a profile of thepalmer surface of user's right thumb, which may or may not differ fromthe pattern of the plurality of barbs 302 that is defined according tothe profile of the palmer surface of the user's finger.

In FIG. 3A, the plurality of barbs 302 have a first pattern that isdefined based on a palmer surface of a phalange of a human finger orthumb (e.g., the intermediate phalange of an index finger). As shown,edge barbs 302 of the inflatable bladder 300-A are longer and morepointed relative to middle/central barbs 302 of the inflatable bladder300-A, which appear blunted. In FIG. 3B, the plurality of barbs 302 havea second pattern, different from the first pattern, that is definedbased on a palmer surface of a phalange of a human finger or thumb. Asshown, the plurality of barbs 302 do not occupy the entire surface ofthe inflatable bladder 300-B but rather form a unique shape that istailored to a shape of the phalange of the human finger or thumb.Furthermore, edge barbs 302 of the inflatable bladder 300-B are longerand more pointed relative to middle/central barbs 302 of the inflatablebladder 300-B, which are again blunted.

Differences between the edge barbs 302 and the middle/central barbs 302,and a generally layout of the barbs 302 in FIGS. 3A and 3B, may be madebased on the ability of that portion of the user's body (e.g., thethumb) to sense touch. It is noted that the pattern of the plurality ofbarbs 302 is not limited to fingers and thumbs, but rather the patternof the plurality of barbs 302 may be tailored to any portion of aperson's body. The ability to tailor a pattern of the barbs 302 isparticularly useful in haptic devices because different portions of thehuman body have different touch-sensory capabilities (e.g., differentprofiles/shapes with unique touch sensing capacities). Consequently, thepattern of the barbs 302 can be selected/designed to leverage andmaximize the sensory capabilities at a particular portion of the body.The patterns shown in FIGS. 3A and 3B are merely two possible examplesfor two parts of the human body, and various other designs could also beused on the discussed portions of the body.

FIG. 3C shows a cross-sectional view of the inflatable bladder 300-A(taken along line A-A¹ in FIG. 3A), while FIG. 3D shows an alternativecross-sectional view of an example inflatable bladder 300.

In FIG. 3C, the inflatable bladder 300-A includes a first substrate 304and a second substrate 306 coupled to the first substrate 304 by anadhesive 308. In some instances, the first substrate 304 is generallyreferred to as the “first surface” while the second substrate 306 isgenerally referred to as the “second surface.” In this particularexample, the adhesive 308 is positioned along respective edges of thefirst substrate 304 and the second substrate 306, which allows for alarge pocket 309 to be formed between the first substrate 304 and thesecond substrate 306. A size of the pocket 309 can be reduced byadhering (via the adhesive 308) a larger portion of the respective edgestogether. Likewise, a size of the pocket 309 can be increased byadhering (via the adhesive 308) a lesser portion of the respective edgestogether. Notably, the first substrate 304 is made from an elasticmaterial (e.g., TPU or the like) while the second substrate 306 is madefrom an inelastic material (e.g., fiberglass reinforced textile or thelike). In this configuration, the first substrate 304 bulges away fromthe second substrate 306, at least partially, when a fluid is receivedin the pocket 309 (e.g., the source 210 adds fluid to the inflatablebladder 300 to pressurize the pocket 309), as shown in FIG. 3E. Thedegree at which the first substrate 304 bulges is related to, at leastpartially, a size of the pocket 309 (e.g., a larger pocket 309 allowsfor the first substrate 304 to bulge significantly).

As also shown in FIG. 3C, the plurality of barbs 302-A, 302-B, . . . ,302-K of the bladder 300-A are positioned on a surface of the firstsubstrate 304. FIG. 3C illustrates how a height of the barbs 302 canchange across a width of the first substrate 304. Furthermore, in thisparticular example, the plurality of barbs 302-A, 302-B, . . . 302-K aresymmetrical about line 310. In other embodiments, such as the embodimentshown in FIG. 3D, the plurality of barbs 302-A, 302-B, . . . 302-K arenot symmetric. In some embodiments, the plurality of barbs 302-A, 302-B,. . . 302-K are symmetric in a first direction (e.g., laterally) whileother barbs 302 are not symmetric in a second direction (e.g.,longitudinally), or vice versa.

The magnified view 320 in FIG. 3C provides additional detail for theplurality of barbs 302-A, 302-B, . . . 302-K. Note that while themagnified view 320 only shows a subset of the plurality of barbs 302,the discussion below may equally apply to all the barbs in the pluralityof barbs 302. As shown, the barbs 302-H, 302-J, 302-K have a polygonalshape when the inflatable bladder 300-A is in an unpressurized state.The polygonal shape of the barbs 302 shown in the magnified view 320 canpromote a desired shape when the inflatable bladder 300-A is in apressurized state, such as the spike shape of the barbs 302 shown inFIG. 3E. In some embodiments, respective shapes of the barbs in theplurality of barbs 302-A, 302-B, . . . 302-K are also defined accordingto the profile of the user's body at the target location. In otherwords, the polygonal shape of the barbs 302 shown in the magnified view320 is selected based on the profile of the user's body. While notshown, in some embodiments, the barbs in the plurality of barbs 302-A,302-B, . . . 302-K each has a polygonal shape, while in otherembodiments, one or more barbs in the plurality of barbs 302-A, 302-B, .. . 302-K do not have the polygonal shape.

The magnified view 320 also shows that barb 302-K is separated from barb302-J by a first distance (S1) while barb 302-J is separated from barb302-H by a second distance (S2). In some embodiments, the first distance(S1) is the same as the second distance (S2), while in otherembodiments, the first distance (S1) is different from the seconddistance (S2). Like barb shape, distances separating neighboring barbs302 in the plurality of barbs 302-A, 302-B, . . . 302-K may be definedaccording to the profile of the user's body at the target location. Asone example, each of the barbs 302 in the plurality of barbs 302-A,302-B, . . . 302-K may be separated by the first distance (S1), thesecond distance (S2), some combination thereof, or some otherdistance(s). Note that distances separating neighboring barbs 302 maydiffer substantially from one body part to the next. For example, whenthe target location is on the user's finger, neighboring barbs 302 maybe separated by first distances (e.g., approximately 1 mm) while, whenthe target location is on the user's leg, neighboring barbs 302 may beseparated by second distances (e.g., approximately 5 mm).

The magnified view 320 also shows depths (D1, D2, D3) of the barbs302-H, 302-J, 302-K. In some embodiments, respective depths of the barbsin the plurality of barbs 302-A, 302-B, . . . 302-K are also definedaccording to the profile of the user's body at the target location. Likea shape of the barbs 302, a depth (and width) of the barbs 302 isanother factor that can be used to promote a spiked shape of the barbs302 when the inflatable bladder 300-A is in a pressurized state. Also,depths of the barbs 302 may differ substantially from one body part tothe next.

It is noted that a roughness (bumpiness, coarseness) of the firstsurface 304 of a respective inflatable bladder 300 increases with fluidpressure inside the inflatable bladder 300. For example, in FIGS. 3C and3D, the inflatable bladder 300 is unpressurized (or is at a lowpressure) and, consequently, the first surface 304 of the inflatablebladder 300 is fairly smooth (i.e., low roughness). In contrast, in FIG.3E, the inflatable bladder 300 is pressurized and, consequently, thefirst surface 304 of the inflatable bladder 300 is rough. Moreover, theinflatable bladder 300 may have a maximum pressure (e.g., fluid pressureinside the bladder 300 cannot exceed some maximum pressure). In suchinstances, the first surface 304 of the inflatable bladder 300 isconfigured to have a maximum roughness when the fluid pressure insidethe inflatable bladder 300 reaches the maximum pressure. To provide somecontext, the maximum pressure may be around 35 PSI. It is also notedthat fluid pressures ranging from 5 to 20 PSI (preferably 10-15 PSI)delivered high quality haptic feedback.

FIG. 3E shows the example inflatable bladder 300 in a pressurized statein accordance with some embodiments. As shown, the plurality of barbs302 of the inflatable bladder 300 are protruding from the first surface304 in response to the inflatable bladder 300 receiving fluid from thesource 210. When the wearable device 120 is donned by a user, theplurality of barbs 302 are configured to interact with the user's bodyat a target location (i.e., impart a haptic stimulation to the user'sbody at the target location in response to the inflatable bladderreceiving the fluid from the source). The inflatable bladder 300 in FIG.3E may be pressurized to the maximum pressure.

When the inflatable bladder 300 is in the pressurized state, firstdistances (p) separate the barbs in the plurality of barbs 302 (morespecifically, the first distances separate tips of the plurality ofbarbs 302). The first distances (p) separating the barbs in theplurality of barbs 302 may be the same or different across the pluralityof barbs 302. For example, a first group of barbs 302 may be separatedby lesser distances (p) compared to distances (p) separating a secondgroup of barbs 302. In this example, the first group of barbs 302 mayform a tight cluster of barbs 302, which may be needed to impart asufficient haptic stimulation to a particular portion of the user'sbody. Note that distances (p) separating the tips of the plurality ofbarbs 302 increases when the inflatable bladder 300 transitions from theunpressurized state to the pressurized state.

In some embodiments, the first surface 304 of the inflatable bladder 300transitions from a concave shape to a convex shape in response to theinflatable bladder 300 receiving the fluid from the source 210. Forexample, in FIG. 3E, the first surface 304 of the inflatable bladder 300has a convex shape when pressurized. When unpressurized, the firstsurface 304 (and potentially the second surface 306) may have a concaveshape that fits (i.e., complements) a profile of the user's body at thetarget location (e.g., fits a curvature of a user's finger). Also, theconvex shape of the first surface 304 may cause (or otherwise promote)the plurality of barbs 302 to protrude from the first surface 304.

FIG. 4 shows an example wearable device 120 with a plurality ofinflatable bladders 300-A-300-E in accordance with some embodiments. Forease of illustration, portions of the wearable structure 202 have beenremoved from FIG. 4 to show the inflatable bladders 300-A-300-E hiddenbeneath.

As shown in FIG. 4, an inflatable bladder 300-A is positioned on apalmer region of the user's thumb, while inflatable bladders 300-B-300-Eare positioned on palmar portions of the user's fingers. In such aconfiguration, each of these regions of the user's body can experienceone or more haptic stimulations. In some embodiments, the inflatablebladders 300-A-300-E include different patterns of barbs 302. Note thatthe barbs 302 are not shown in FIG. 4 because they are facing the user'sbody. The second surface 306 of the inflatable bladders 300-A-300-E,however, is shown in FIG. 4 as this is the surface of the inflatablebladders 300-A-300-E that faces away from the user's body.

In the illustrated embodiments, the inflatable bladders 300-A-300-E areserviced by a single valve 313-A (i.e., the bladders 300 are fluidicallycoupled to the source 210 by a single conduit 208), and as a result, theinflatable bladders 300-A-300-E are inflated and deflated together.While not shown, in some embodiments, the inflatable bladders300-A-300-E are serviced by distinct valves 313 (i.e., the bladders 300are fluidically coupled to the source 210 by distinct conduits 208).Either way, when the bladders 300 are unpressurized, each of thebladders 300 are flexible, and when the bladders 300 are pressurized,each of the bladders 300 is less flexible (i.e., semi-rigid or rigid).

The second and third embodiments discussed below are both directedtowards haptic-feedback mechanisms 122 that use interference to imparthaptic stimulations onto a user. In particular, the haptic-feedbackmechanisms 122 in these embodiments include at least one inflatablebladder 204 that has two or more pockets 220 configured to, wheninflated, impart one or more directional forces onto the user at atarget location (e.g., a finger joint) that impede movement of a portionof the user's body (e.g., a user's finger). Importantly, the one or moredirectional forces are caused by the two or more pockets 220 interferingwith each other when inflated, as shown in FIG. 5D (discussed below).Stated differently, in the embodiments discussed below, pockets ofbladders interfere when inflated to render impedance and torque at atarget location, such as a finger joint. Using the finger joint as anillustrative example, interference of the pockets creates forces on thefinger phalanges in a direction very similar to the forces induced byphysical objects during natural hand-object interaction, making thedesigns of the second and third embodiments perceptually appealing. Asexplained above with reference to FIG. 2, each inflatable bladder 204 iscoupled to a wearable structure 202, which is not shown in most of thefigures below for ease of discussion and illustration.

FIGS. 5A-5D are included herein to provide some context to thediscussion of the second and third embodiments. To begin, FIG. 5A showsa simplified inflatable bladder 204, in an unpressurized state, thatincludes a first pocket 220-A and a second pocket 220-B. As shown inFIG. 5A, the first pocket 220-A is separated from the second pocket220-B by a separation distance (p), and each pocket 220 has a height (h)and a thickness (T). As will be discussed in more detail, the inflatablebladders 204 discussed with reference to the second and thirdembodiments may include any number of pockets 220.

In the unpressurized state of FIG. 5A, the first pocket 220-A and thesecond pocket 220-B are deflated, and, thus, they do not interact witheach other. For example, if the bladder 204 is positioned on a user'sfinger, the first pocket 220-A and the second pocket 220-B will notimpede finger flexion (e.g., the user is free to bend or otherwise curlhis or her finger). This result is achieved because the inflatablebladder 204 as a whole is made from flexible materials designed/selectedto not encumber movement of the user's body when the inflatable bladder204 is unpressurized. It is also noted that the inflatable bladder 204may include two main components: (i) the first pocket 220-A and thesecond pocket 220-B (made from the elastic material) and (ii) asubstrate (made from an inelastic, yet flexible, material) coupled withthe first pocket 220-A and the second pocket 220-B. A design of theinflatable bladder 204 is discussed in further detail below withreference to FIGS. 6A-6D and 7A-7E.

FIGS. 5B and 5C show the simplified inflatable bladder 204 from FIG. 5Ain a pressurized state (i.e., inflated). In the pressurized state ofFIGS. 5B and 5C, the first pocket 220-A and the second pocket 220-B areinflated, and, thus, they are positioned to interact with each other.Notably, in FIG. 5B, the first pocket 220-A and the second pocket 220-Bhave expanded to a first height (h1) and a first thickness (T1), whilein FIG. 5C, the first pocket 220-A and the second pocket 220-B haveexpanded to a second height (h2) and a second thickness (T2). Thedifferences in height and thickness in FIGS. 5B and 5C can be attributedto characteristics of the pockets 220-A, 220-B themselves, such asmaterial choice and sidewall thickness. For example, pockets 220 tend toelongate further when a thickness of their sidewalls is reduced fromsome baseline thickness. Additionally, a pressure inside the firstpocket 220-A and the second pocket 220-B in FIG. 5B may be lower than apressure inside the first pocket 220-A and the second pocket 220-B inFIG. 5C (which may also explain why the second height (h2) is greaterthan the first height (h1)).

FIG. 5D shows the first pocket 220-A and the second pocket 220-Binterfering with each other at the interference region 505. When thefirst pocket 220-A and the second pocket 220-B interfere with each other(e.g., as a result of the user attempting to curl his or her finger whenthe inflatable bladder 204 is in the pressurized state), forces arecreated in directions that are opposite to the arrows shown in FIG. 5D,and these forces are resist movement of the user's body. As such, if theinflatable bladder 204 is positioned at a joint on the user's body(e.g., a joint separating finger phalanges), the first pocket 220-A andthe second pocket 220-B prevent the user from bending his or her fingerfurther at the joint (e.g., the user is prevented from curling his orher finger past a certain point). Accordingly, the second and thirdembodiments discussed below provide innovative mechanisms that can beused to prevent a user from moving (e.g., bending) certain portions ofhis or her body. Furthermore, the second and third embodiments implementdesigns that can be easily incorporated into garments (e.g., glovers,shirts, socks, etc.).

Second Embodiment—Inflatable Bladders with Localized Interfering Pockets

FIGS. 6A-6D are directed toward embodiments that include inflatablebladders with localized interfering pockets (as opposed to distributedinterfering pockets). FIG. 6A shows an example haptic-feedback assembly122 on a portion of a user's body in accordance with some embodiments.The haptic-feedback assembly 122 of FIG. 6A includes a first inflatablebladder 600-A and a second inflatable bladder 600-B that are secured toa user's finger by a first grounding component 604-A and a secondgrounding component 604-B. In some embodiments, the first and secondgrounding components 604 are physical straps that are tightened aroundthe user's finger. In some other embodiments, the first and secondgrounding components 604 themselves include inflatable bladders that areinflated to secure the first inflatable bladder 600-A and the secondinflatable bladder 600-B to the user's finger. While not shown, one ormore additional grounding components 604 may be included in thehaptic-feedback assembly 122 of FIG. 6A to secure the inflatablebladders 600 to the user's finger.

The first inflatable bladder 600-A and the second inflatable bladder600-B are both examples of the inflatable bladder 204. As shown, thefirst inflatable bladder 600-A, which is positioned at the proximalinterphalangeal joint, includes a first pocket 602-A and a second pocket602-B. Likewise, the second inflatable bladder 600-B, which ispositioned at the metacarpophalangeal joint, includes a first pocket602-A and a second pocket 602-B. The first pocket 602-A and the secondpocket 602-B in the inflatable bladders 600 of FIG. 6A are configured tooperate in the manner explained above with reference to FIGS. 5A-5D. Forexample, in FIG. 6A, the first inflatable bladder 600-A and the secondinflatable bladder 600-B are both in a pressurized state, and,consequently, the first pocket 602-A and the second pocket 602-B in eachinflatable bladder 600 are configured to impart one or more directionalforces onto the user at respective target locations that impede movementof the user's finger (i.e., resist finger flexion). As explained above,the one or more directional forces imparted on the user by the firstpocket 602-A and the second pocket 602-B are caused by the pocketsinterfering with each other when inflated (e.g., the user attempts tocurl his or her finger, which causes the inflated pockets to pressagainst each other, thereby preventing the user from curl his or herfinger past a certain point).

In some embodiments, the first inflatable bladder 600-A and the secondinflatable bladder 600-B are fluidically coupled to the source 210 bythe same conduit 208. In such embodiments, the first inflatable bladder600-A and the second inflatable bladder 600-B are pressurized toapproximately the same pressure at the same time when in the pressurizedstate. In some other embodiments, the first inflatable bladder 600-A isfluidically coupled to the source 210 by a first conduit 208 and thesecond inflatable bladder 600-B is fluidically coupled to the source 210by a second conduit 208. In such embodiments, the first inflatablebladder 600-A and the second inflatable bladder 600-B can be inflated todifferent pressures at different times (or the same pressure at the sametime).

FIGS. 6B and 6C show a representative inflatable bladder 600 indifferent states in accordance with some embodiments. In particular,FIG. 6B shows the representative inflatable bladder 600 in anunpressurized state while FIG. 6C shows the representative inflatablebladder 600 in a pressurized state. In some instances, therepresentative inflatable bladder 600 is referred to as an “origamiactuator” because the actuator collapses into a thin multi-layerstructure in the unpressurized/deflated state. However, when inflated,the actuator expands in a rotary manner and the inflated pockets 602interfere to resist finger flexion (as explained above with reference toFIGS. 5A-5D). Furthermore, the collapsible origami structure of therepresentative inflatable bladder 600 ensures that torque increasesgradually and in a continuous manner, which results in a perceptuallybelievable haptic stimulation. As shown with reference to FIG. 6A, thisdesign has localized bladders 600 can be positioned at finger joints,and each of which has a small volume, meaning that the bladders 600 canbe inflated and deflated in a short duration (i.e., they have fastresponse times).

The representative inflatable bladder 600 includes a plurality ofpockets 602-A-602-D. As shown with reference to the pocket 602-D, eachpocket 602 includes an end portion 608 and a body portion 609.Furthermore, end portions 608 of the plurality of pockets 602-A-602-Dare coupled with each other at a connection point 606. Notably, the bodyportions of the plurality of pockets 602-A-602-D are decoupled from eachother, which reduces encumbrances imposed on the user by therepresentative inflatable bladder 600 when the inflatable bladder 600 isin the unpressurized state. Furthermore, the decoupled design of theplurality of pockets 602-A-602-D allows for the pockets 600 toindependently collapse onto each other. Put another way, when theplurality of pockets 602-A-602-D are not inflated, the plurality ofpockets 602-A-602-D are configured to collapse such that the respectivebody portions 609 lay adjacent to each other.

As shown with reference to FIG. 6C, the plurality of pockets 602-A-602-Dare configured to, when inflated, expand such that the respective bodyportions 609 of the plurality of pockets 602-A-602-D fan out away fromthe connection point 606. Because the representative inflatable bladder600 includes four pockets 602, three distinct interference regions 505are created when the representative inflatable bladder 600 is in thepressurized state. This particular design ensures that torque increasesgradually and in a continuous manner, as mentioned above. For example,as the plurality of pockets 602-A-602-D inflate, a degree of contactbetween neighboring pockets 602 gradually increases.

FIG. 6D shows an alternate embodiment of the representative inflatablebladder 600 in accordance with some embodiments. In this particularexample, the representative inflatable bladder 600 includes multiplepocket clusters 610-A, 610-B, and 610-C, whereby each pocket cluster 610is designed to be positioned at a finger joint. Furthermore, themultiple pocket clusters 610-A, 610-B, and 610-C are interconnect viapassages 612-A, 612-B, which allows for each cluster 610 to befluidically coupled to the source 210. As also shown, each pocketcluster 610 includes four pockets 602. However, in some embodiments,each pocket cluster 610 includes fewer than or more than four pockets602. Additionally, the multiple pocket clusters 610-A, 610-B, and 610-Cmay have the same number of pockets 602 or different number of pockets602. For example, because greater forces are needed to impede movementof different finger joints, a number of pockets 602 in a given cluster610 may be tailored according to a force requirement for a particularfinger joint. To illustrate, greater forces are needed to resist fingerflexion at the proximal interphalangeal joint compared to the distalinterphalangeal joint. As such, the cluster 610-B may have more pockets602 than the cluster 610-C.

Third Embodiment—Inflatable Bladders with Distributed InterferingPockets

FIGS. 7A-7E are directed toward embodiments that include inflatablebladders 700 with distributed interfering pockets. The inflatablebladders 700 discussed with reference to FIGS. 7A-7E are examples of theinflatable bladder 204. At a high level, the inflatable bladders 700include a series of pockets 702 designed to be distributed along aportion of the user's body, such as entire fingers as shown in FIG. 7E.The pockets 702 are thin-walled and made from an elastic material, suchas thermoplastic polyurethane (TPU), meaning that the pockets 702 can beeasily bent when unpressurized, and, therefore, the inflatable bladders700 have low encumbrance when unpressurized. As the bladder 700 isinflated, the pockets 702 expand, become semi-rigid, and interfere witheach other to resist finger flexion. The distributed design of theinflatable bladders 700 allows for the inflatable bladders 700 to fit awide range of users.

FIGS. 7A and 7B show top and bottom views of a representative inflatablebladder 700. As shown, the representative inflatable bladder 700includes (i) an elongated substrate 704 forming a first side of therepresentative inflatable bladder 700 and (ii) two or more pockets 702(a) that are distributed along a length of the elongated substrate 704and (b) form a second side of the representative inflatable bladder 700.In some embodiments, the two or more pockets 702 are integrally formedwith the elongated substrate 704, while in other embodiments the two ormore pockets 702 are adhered with (or otherwise coupled to) theelongated substrate 704. In FIGS. 7A-7B, the representative inflatablebladder 700 is in an unpressurized state, such that none of the two ormore pockets 702 are touching each other (i.e., interfering with oneanother).

The elongated substrate 704 may be made from an inelastic textile orpolymer, while the two or more pockets 702 are made from an elasticmaterial, as discussed above. A portion of the elongated substrate 704that contacts the user's body (i.e., the portion shown in FIG. 7A) isdesigned to remain flat. In this way, the representative inflatablebladder 700 rests somewhat unnoticed on the user wearing the wearabledevice 120.

In some embodiments, the two or more pockets 702 have the same size andshape. In some other embodiments, one or more pockets of the two or morepockets 702 have different sizes and shapes. For example, pockets 702positioned toward the conduit 208 may have elongated shapes whilepockets 702 positioned toward a fingertip may have shortened shapes (orvice versa). Varying a shape/profile of the two or more pockets 702 canbe used to control an amount of resistance created by the inflatablebladder 700 (especially the amount of resistance created at specifictarget areas, such as finger joints).

FIGS. 7C and 7D show the representative inflatable bladder 700 indifferent pressurized states in accordance with some embodiments. Inparticular, FIG. 7C shows the representative inflatable bladder 700 in alow pressure state (e.g., the representative inflatable bladder 700 ispressurized to some minimal degree above ambient pressure). In the lowpressure state, the representative inflatable bladder 700 is partiallycurved as a result of the two or more pockets 702 partially touching(i.e., pressing against) each other. More specifically, respective baseportions of neighboring pockets 702 press against each other, whichcauses, in essence, a length of the second side of the inflatablebladder 700 to increase relative to a length of the first side of theinflatable bladder 700. The newly introduced difference in length causesthe inflatable bladder 700 to curve in the manner shown in FIG. 7C. Inthe state shown in FIG. 7C, the representative inflatable bladder 700would impart minimal forces to a user, such that finger flexion would beimpeded, but only slightly.

FIG. 7D shows the representative inflatable bladder 700 in a highpressure state (e.g., the representative inflatable bladder 700 ispressurized to some threshold pressure). In the high pressure state, therepresentative inflatable bladder 700 is curved substantially as aresult of the two or more pockets 702 pushing against each other. Morespecifically, neighboring pockets 702 are pressed against each other dueto the representative inflatable bladder 700 being inflated at the highpressure, which causes a length of the second side of the inflatablebladder 700 to increase substantially relative to a length of the firstside of the inflatable bladder 700. The newly introduced difference inlength (which is greater than the difference in length introduced inFIG. 7C) causes the inflatable bladder 700 to curve in the manner shownin FIG. 7D. In the state shown in FIG. 7D, the representative inflatablebladder 700 would impart significant forces to a user, such that fingerflexion would be greatly impeded (e.g., a user would struggle to bendhis or her finger).

In some embodiments, the two or more pockets 702 have a predefined shapewhen inflated to a predefined pressure, and the predefined shape isdependent, at least in part, on a wall thickness of each pocket of thetwo or more pockets 702. In some embodiments, one or more pockets have awall thickness ranging from 2-6 millimeters (preferably 4 millimeters).

FIG. 7E shows an example wearable device 120 that includes multipleinflatable bladders 700 in accordance with some embodiments. As shown,inflatable bladders 700 are coupled to a wearable structure 202 (e.g.,glove) so that their respective pockets 702 are positioned facing awayfrom a palmer side of the user's hand. This is also true for theinflatable bladders 600 (i.e., the inflatable bladders 600 are coupledto a wearable structure 202 (e.g., glove) so that their respectivepockets 602 face away from a palmer side of the user's hand). Incontrast, the inflatable bladders 300 are coupled to the wearablestructure 202 so that their barbs 302 face from a palmer side of theuser's hand.

In some embodiments, one or more of the inflatable bladders 700 arefluidically coupled to the source 210 by a single conduit 208, as shownwith inflatable bladders 700-A, 700-B, and 700-D. Alternatively or inaddition, in some embodiments, one or more of the inflatable bladders700 are fluidically coupled to the source 210 by multiple conduits208-A, 208-B. Attaching multiple conduits to a single inflatable bladder700 allows the source 210 to add and remove fluid to the bladder 700 ata faster rate.

In some embodiments, the wearable structure 202 includes a groundingstructure 705 that includes a plurality of openings 707 sized to receivethe pockets 702 of the inflatable bladders 700. For ease ofillustration, the inflatable bladder 700 on the user's pinky finger hasbeen removed to show a structure of the grounding structure 705. Thegrounding structure 705 is configured to fix the pockets 702 of theinflatable bladders 700 in a particular orientation, so that the pockets702 do not shift or otherwise rotate from their desired positions. Thegrounding structure 705 may be made from an inextensible material, whichhelps fix the pockets 702 at their desired positions.

Fourth Embodiment—Inflatable Bladders with Integrated Channels

FIGS. 8A-8C are directed toward embodiments that include an inflatablebladder 800 with integrated channels 804 (e.g., fluid channels). Inparticular, FIG. 8A shows the inflatable bladder 800 in an unpressurizedstate while FIG. 8B shows the inflatable bladder 800 in a pressurizedstate. FIG. 8C shows components of the inflatable bladder 800, includinga first substrate 810 that is bonded to a second substrate 812, as shownin FIG. 8C. Notably, the inflatable bladder 800 also includes anunbonded region 814 between the first substrate 810 and the secondsubstrate 812. The unbonded region 814 forms the integrated channels 804shown in FIGS. 8A and 8B. Note that the unbonded region 814 has asimplified shape in FIG. 8C for ease of illustration.

In some embodiments, the integrated channels 804 are created during acompression operation where the first substrate 810 is compressedagainst the second substrate 812, and heat is also applied. To preventthe first substrate 810 from bonding with the second substrate 812 inthe unbonded region 814, a jig having a shape of the unbonded region 814is used to insulate the first substrate 810 and/or the second substrate812 from heat during the compression operation. For example, the firstand second substrates 810, 812 may be polymer substrates that bondtogether under heat and pressure. Accordingly, the jig is used toinsulate a portion of the first and second substrates 810, 812 fromheat, thereby ensuring that the substrates do not bond together at theunbonded region 814.

In use, the integrated channels 804 of the inflatable bladder 800 areconfigured to expand in response to receiving fluid from the source 210(e.g., via the conduit 208). The inflatable bladder 800 is designed todeformed in one or more directions in response to the integratedchannels 804 expanding. It is this deformation of the inflatable bladder800 that imparts a haptic stimulation onto a user. In some instance, auser may also experience a pinching stimulation in areas betweenneighboring channels of the integrated channels 804. While not shown inFIGS. 8A-8C, the inflatable bladder 800 is also designed to be coupledwith a wearable structure 202. Accordingly, when the inflatable bladder800 deforms, a person wearing the wearable structure 202 feels thehaptic stimulation, which in some cases, is a pinching stimulation,while in other situations, is a little gripping stimulation.

Due to the seamless design of the inflatable bladder 800 and the factthat the inflatable bladder 800 can be made from highly elasticmaterials (e.g., silicone), the inflatable bladder 800 is able to easilycontour to the user's body. This is particularly useful on areas of thebody with complex geometries, such as the palmar surface of the humanthumb.

Methods of Operation

FIG. 9 is a flow diagram illustrating a method 900 of creating hapticstimulations in accordance with some embodiments. The steps of themethod 900 may be performed (902) by a computer 130. FIG. 9 correspondsto instructions stored in a computer memory or computer readable storagemedium (e.g., the memory of the computer system 130). For example, theoperations of the method 900 are performed, at least in part, by acommunication interface 136 and an artificial-reality generation module(e.g., part of the engine 134). It is noted that the method describedbelow can be implemented with any of the wearable devices andhaptic-feedback mechanisms discussed above.

The method 900 includes generating (904) an instruction that correspondsto media (e.g., visual data) to be displayed by a head-mounted display110 in communication the computer system (and/or corresponds toinformation received from one or more sensors 124 of the wearable device120 and/or information received from one or more sensors 114 of thehead-mounted display 110). In some embodiments, the computer systemgenerates the instruction based on information received from the sensorson the wearable device. Alternatively or in addition, in someembodiments, the computer system generates the instruction based oninformation received from the sensors on the head-mounted display. Forexample, cameras (or other sensors 114) on the head-mounted display maycapture movements of the wearable device, and the computer system canuse this information when generating the instruction.

The method 900 further includes sending (906) the instruction to a fluidsource 210 in communication with the computer system (e.g., send theinstruction in a communication signal from a communication interface).The instruction, when received by the source, causes the source tochange a pressure inside one or more bladders 204 of the wearable device120. In doing so, a wearer of the wearable device experiences a hapticstimulation that corresponds to the data. In some embodiments, theinstruction specifies the change in the pressure to be made by thesource. In some situations, instead of the computer system sending theinstruction to the source, the computer system sends the instruction tothe wearable device, and in response to receiving the instruction, thewearable device sends the instruction to the source. The source isdiscussed in further detail above with reference to FIG. 2.

After (or while, or before) sending the instruction, the method 900 alsoincludes sending (908) the media to the head-mounted display. Forexample, the head-mounted display may receive visual data from thecomputer system, and may in turn display the visual data on itsdisplay(s). As an example, if the computer system receives informationfrom the sensors 124 of the wearable device 120 that the user has closedhis fingers around a position corresponding to a coffee mug in thevirtual environment and raised his hand, a simulated hand in avirtual-reality application picks up the virtual coffee mug and lifts itto a corresponding height. Generating and sending media is discussed infurther detail above with reference to FIG. 1.

In conjunction with displaying the visual data (or other media), one ormore bladders of the wearable device are inflated (or deflated) to thedesired pressure (as noted above). As an example, the wearable devicemay include: (i) a wearable structure to be worn on a portion of auser's body, and at least one inflatable bladder, coupled to thewearable structure, that includes two or more pockets positioned at atarget location on the wearable structure. In such embodiments, the twoor more pockets are configured to, when inflated, impart one or moredirectional forces onto the user at the target location that impedemovement of the portion of the user's body. Furthermore, the one or moredirectional forces are caused by the two or more pockets interferingwith each other, when inflated.

In some embodiments, the one or more directional forces imparted ontothe user at the target location simulate (i.e., mimic) forces induced byphysical objects at the target location (e.g., finger joint) duringnatural-object interaction. Using the coffee mug example from above, ifthe computer system receives information that the user has closed hisfingers around a position corresponding to a coffee mug in the virtualenvironment, then the one or more directional forces imparted onto theuser at the target location simulate forces induced by a physical coffeemug at a finger joint during natural hand-object interaction. Moreover,a magnitude of the one or more directional forces imparted onto the userat the target location may be selected based on the physical object. Forexample, the one or more directional forces may have a greater magnitudewhen the object is solid and/or heavy relative to a magnitude of the oneor more directional forces when the object is soft and/or light.

In another example, the wearable device may include: (i) a wearablestructure to be worn on a portion of a user's body, and (ii) aninflatable bladder, coupled to the wearable structure at a targetlocation, that includes opposing first and second surfaces, whereby theinflatable bladder is configured to receive a fluid from a source. Insuch embodiments, the first surface of the inflatable bladder includes aplurality of barbs positioned to interact with the user's body at thetarget location, whereby the plurality of barbs are configured toprotrude from the first surface in response to the inflatable bladderreceiving the fluid from the source (i.e., in response to the inflatablebladder being inflated by the source).

In some embodiments, the computer and the head-mounted display togetherform an artificial-reality system. Furthermore, in some embodiments, theartificial-reality system is a virtual-reality system 1200.Alternatively, in some embodiments, the artificial-reality system is anaugmented-reality system 1100 or some other artificial-reality system1000. In some embodiments, the data presented to the user by theartificial-reality system includes visual media displayed on one or moredisplays of the virtual-reality or augmented-reality system.

Embodiments of this disclosure may include or be implemented inconjunction with various types of artificial-reality systems. Artificialreality may constitute a form of reality that has been altered byvirtual objects for presentation to a user. Such artificial reality mayinclude and/or represent virtual reality (VR), augmented reality (AR),mixed reality (MR), hybrid reality, or some combination and/or variationof one or more of the these. Artificial-reality content may includecompletely generated content or generated content combined with captured(e.g., real-world) content. The artificial-reality content may includevideo, audio, haptic feedback, or some combination thereof, any of whichmay be presented in a single channel or in multiple channels (such asstereo video that produces a three-dimensional effect to a viewer).Additionally, in some embodiments, artificial reality may also beassociated with applications, products, accessories, services, or somecombination thereof, which are used, for example, to create content inan artificial reality and/or are otherwise used in (e.g., to performactivities in) an artificial reality.

Artificial-reality systems may be implemented in a variety of differentform factors and configurations. Some artificial-reality systems aredesigned to work without near-eye displays (NEDs), an example of whichis the artificial-reality system 1000 in FIG. 10. Otherartificial-reality systems include an NED, which provides visibilityinto the real world (e.g., the augmented-reality (AR) system 1100 inFIG. 11) or that visually immerses a user in an artificial reality(e.g., the virtual-reality (VR) system 1200 in FIG. 12). While someartificial-reality devices are self-contained systems, otherartificial-reality devices communicate and/or coordinate with externaldevices to provide an artificial-reality experience to a user. Examplesof such external devices include handheld controllers, mobile devices,desktop computers, devices worn by a user (e.g., wearable device 120),devices worn by one or more other users, and/or any other suitableexternal system.

FIGS. 10-12 provide additional examples of the devices used in a system100. The artificial-reality system 1000 in FIG. 10 generally representsa wearable device dimensioned to fit about a body part of a user. Theartificial-reality system 1000 may include the functionality of awearable device, and may include functions not described above. Asshown, the artificial-reality system 1000 includes a frame 1002 (e.g., aband or wearable structure) and a camera assembly 1004, which is coupledto the frame 1002 and configured to gather information about a localenvironment by observing the local environment (and may include adisplay 1004 that displays a user interface). In some embodiments, theartificial-reality system 1000 includes output transducers 1008(A) and1008(B) and input transducers 1010. The output transducers 1008(A) and1008(B) may provide audio feedback, haptic feedback, and/or content to auser, and the input audio transducers may capture audio (or othersignals/waves) in a user's environment.

Thus, the artificial-reality system 1000 does not include a near-eyedisplay (NED) positioned in front of a user's eyes. Artificial-realitysystems without NEDs may take a variety of forms, such as head bands,hats, hair bands, belts, watches, wrist bands, ankle bands, rings,neckbands, necklaces, chest bands, eyewear frames, and/or any othersuitable type or form of apparatus. While the artificial-reality system1000 may not include an NED, the artificial-reality system 1000 mayinclude other types of screens or visual feedback devices (e.g., adisplay screen integrated into a side of the frame 1002).

The embodiments discussed in this disclosure may also be implemented inartificial-reality systems that include one or more NEDs. For example,as shown in FIG. 11, the AR system 1100 may include an eyewear device1102 with a frame 1110 configured to hold a left display device 1115(B)and a right display device 1115(A) in front of a user's eyes. Thedisplay devices 1115(A) and 1115(B) may act together or independently topresent an image or series of images to a user. While the AR system 1100includes two displays, embodiments of this disclosure may be implementedin AR systems with a single NED or more than two NEDs.

In some embodiments, the AR system 1100 includes one or more sensors,such as the sensors 1140 and 1150 (examples of sensors 114, FIG. 1). Thesensors 1140 and 1150 may generate measurement signals in response tomotion of the AR system 1100 and may be located on substantially anyportion of the frame 1110. Each sensor may be a position sensor, aninertial measurement unit (IMU), a depth camera assembly, or anycombination thereof. The AR system 1100 may or may not include sensorsor may include more than one sensor. In embodiments in which the sensorsinclude an IMU, the IMU may generate calibration data based onmeasurement signals from the sensors. Examples of the sensors include,without limitation, accelerometers, gyroscopes, magnetometers, othersuitable types of sensors that detect motion, sensors used for errorcorrection of the IMU, or some combination thereof. Sensors are alsodiscussed above with reference to FIG. 1.

The AR system 1100 may also include a microphone array with a pluralityof acoustic sensors 1120(A)-1120(J), referred to collectively as theacoustic sensors 1120. The acoustic sensors 1120 may be transducers thatdetect air pressure variations induced by sound waves. Each acousticsensor 1120 may be configured to detect sound and convert the detectedsound into an electronic format (e.g., an analog or digital format). Themicrophone array in FIG. 11 may include, for example, ten acousticsensors: 1120(A) and 1120(B), which may be designed to be placed insidea corresponding ear of the user, acoustic sensors 1120(C), 1120(D),1120(E), 1120(F), 1120(G), and 1120(H), which may be positioned atvarious locations on the frame 1110, and/or acoustic sensors 1120(I) and1120(J), which may be positioned on a corresponding neckband 1105. Insome embodiments, the neckband 1105 is an example of a computer system.

The configuration of the acoustic sensors 1120 of the microphone arraymay vary. While the AR system 1100 is shown in FIG. 11 having tenacoustic sensors 1120, the number of acoustic sensors 1120 may begreater or less than ten. In some embodiments, using more acousticsensors 1120 may increase the amount of audio information collectedand/or the sensitivity and accuracy of the audio information. Incontrast, using a lower number of acoustic sensors 1120 may decrease thecomputing power required by a controller 1125 to process the collectedaudio information. In addition, the position of each acoustic sensor1120 of the microphone array may vary. For example, the position of anacoustic sensor 1120 may include a defined position on the user, adefined coordinate on the frame 1110, an orientation associated witheach acoustic sensor, or some combination thereof.

The acoustic sensors 1120(A) and 1120(B) may be positioned on differentparts of the user's ear, such as behind the pinna or within the auricleor fossa. In some embodiments, there are additional acoustic sensors onor surrounding the ear in addition to acoustic sensors 1120 inside theear canal. Having an acoustic sensor positioned next to an ear canal ofa user may enable the microphone array to collect information on howsounds arrive at the ear canal. By positioning at least two of theacoustic sensors 1120 on either side of a user's head (e.g., as binauralmicrophones), the AR device 1100 may simulate binaural hearing andcapture a 3D stereo sound field around about a user's head. In someembodiments, the acoustic sensors 1120(A) and 1120(B) may be connectedto the AR system 1100 via a wired connection, and in other embodiments,the acoustic sensors 1120(A) and 1120(B) may be connected to the ARsystem 1100 via a wireless connection (e.g., a Bluetooth connection). Instill other embodiments, the acoustic sensors 1120(A) and 1120(B) maynot be used at all in conjunction with the AR system 1100.

The acoustic sensors 1120 on the frame 1110 may be positioned along thelength of the temples, across the bridge, above or below the displaydevices 1115(A) and 1115(B), or some combination thereof. The acousticsensors 1120 may be oriented such that the microphone array is able todetect sounds in a wide range of directions surrounding the user wearingAR system 1100. In some embodiments, an optimization process may beperformed during manufacturing of the AR system 1100 to determinerelative positioning of each acoustic sensor 1120 in the microphonearray.

The AR system 1100 may further include or be connected to an externaldevice (e.g., a paired device), such as a neckband 1105. As shown, theneckband 1105 may be coupled to the eyewear device 1102 via one or moreconnectors 1130. The connectors 1130 may be wired or wireless connectorsand may include electrical and/or non-electrical (e.g., structural)components. In some cases, the eyewear device 1102 and the neckband 1105operate independently without any wired or wireless connection betweenthem. While FIG. 11 illustrates the components of the eyewear device1102 and the neckband 1105 in example locations on the eyewear device1102 and the neckband 1105, the components may be located elsewhereand/or distributed differently on the eyewear device 1102 and/or on theneckband 1105. In some embodiments, the components of the eyewear device1102 and the neckband 1105 may be located on one or more additionalperipheral devices paired with the eyewear device 1102, the neckband1105, or some combination thereof. Furthermore, the neckband 1105generally represents any type or form of paired device. Thus, thefollowing discussion of neckband 1105 may also apply to various otherpaired devices, such as smart watches, smart phones, wrist bands, otherwearable devices, hand-held controllers, tablet computers, or laptopcomputers.

Pairing external devices, such as a neckband 1105, with AR eyeweardevices may enable the eyewear devices to achieve the form factor of apair of glasses while still providing sufficient battery and computationpower for expanded capabilities. Some or all of the battery power,computational resources, and/or additional features of the AR system1100 may be provided by a paired device or shared between a paireddevice and an eyewear device, thus reducing the weight, heat profile,and form factor of the eyewear device overall while still retainingdesired functionality. For example, the neckband 1105 may allowcomponents that would otherwise be included on an eyewear device to beincluded in the neckband 1105 because users may tolerate a heavierweight load on their shoulders than they would tolerate on their heads.The neckband 1105 may also have a larger surface area over which todiffuse and disperse heat to the ambient environment. Thus, the neckband1105 may allow for greater battery and computation capacity than mightotherwise have been possible on a stand-alone eyewear device. Becauseweight carried in the neckband 1105 may be less invasive to a user thanweight carried in the eyewear device 1102, a user may tolerate wearing alighter eyewear device and carrying or wearing the paired device forgreater lengths of time than the user would tolerate wearing a heavystandalone eyewear device, thereby enabling an artificial-realityenvironment to be incorporated more fully into a user's day-to-dayactivities.

The neckband 1105 may be communicatively coupled with the eyewear device1102 and/or to other devices (e.g., a wearable device). The otherdevices may provide certain functions (e.g., tracking, localizing, depthmapping, processing, storage, etc.) to the AR system 1100. In theembodiment of FIG. 11, the neckband 1105 includes two acoustic sensors1120(I) and 1120(J), which are part of the microphone array (orpotentially form their own microphone subarray). The neckband 1105includes a controller 1125 and a power source 1135.

The acoustic sensors 1120(I) and 1120(J) of the neckband 1105 may beconfigured to detect sound and convert the detected sound into anelectronic format (analog or digital). In the embodiment of FIG. 11, theacoustic sensors 1120(I) and 1120(J) are positioned on the neckband1105, thereby increasing the distance between neckband acoustic sensors1120(I) and 1120(J) and the other acoustic sensors 1120 positioned onthe eyewear device 1102. In some cases, increasing the distance betweenthe acoustic sensors 1120 of the microphone array improves the accuracyof beamforming performed via the microphone array. For example, if asound is detected by the acoustic sensors 1120(C) and 1120(D) and thedistance between acoustic sensors 1120(C) and 1120(D) is greater than,for example, the distance between the acoustic sensors 1120(D) and1120(E), the determined source location of the detected sound may bemore accurate than if the sound had been detected by the acousticsensors 1120(D) and 1120(E).

The controller 1125 of the neckband 1105 may process informationgenerated by the sensors on the neckband 1105 and/or the AR system 1100.For example, the controller 1125 may process information from themicrophone array, which describes sounds detected by the microphonearray. For each detected sound, the controller 1125 may perform adirection of arrival (DOA) estimation to estimate a direction from whichthe detected sound arrived at the microphone array. As the microphonearray detects sounds, the controller 1125 may populate an audio data setwith the information. In embodiments in which the AR system 1100includes an IMU, the controller 1125 may compute all inertial andspatial calculations from the IMU located on the eyewear device 1102.The connector 1130 may convey information between the AR system 1100 andthe neckband 1105 and between the AR system 1100 and the controller1125. The information may be in the form of optical data, electricaldata, wireless data, or any other transmittable data form. Moving theprocessing of information generated by the AR system 1100 to theneckband 1105 may reduce weight and heat in the eyewear device 1102,making it more comfortable to a user.

The power source 1135 in the neckband 1105 may provide power to theeyewear device 1102 and/or to the neckband 1105. The power source 1135may include, without limitation, lithium-ion batteries, lithium-polymerbatteries, primary lithium batteries, alkaline batteries, or any otherform of power storage. In some cases, the power source 1135 may be awired power source. Including the power source 1135 on the neckband 1105instead of on the eyewear device 1102 may help better distribute theweight and heat generated by the power source 1135.

As noted, some artificial-reality systems may, instead of blending anartificial-reality with actual reality, substantially replace one ormore of a user's sensory perceptions of the real world with a virtualexperience. One example of this type of system is a head-worn displaysystem, such as the VR system 1200 in FIG. 12, which mostly orcompletely covers a user's field of view. The VR system 1200 may includea front rigid body 1202 and a band 1004 shaped to fit around a user'shead. In some embodiments, the VR system 1200 includes output audiotransducers 1206(A) and 1206(B), as shown in FIG. 12. Furthermore, whilenot shown in FIG. 12, the front rigid body 1202 may include one or moreelectronic elements, including one or more electronic displays, one ormore IMUs, one or more tracking emitters or detectors, and/or any othersuitable device or system for creating an artificial-reality experience.

Artificial-reality systems may include a variety of types of visualfeedback mechanisms. For example, display devices in the AR system 1100and/or the VR system 1200 may include one or more liquid-crystaldisplays (LCDs), light emitting diode (LED) displays, organic LED (OLED)displays, and/or any other suitable type of display screen.Artificial-reality systems may include a single display screen for botheyes or may provide a display screen for each eye, which may allow foradditional flexibility for varifocal adjustments or for correcting auser's refractive error. Some artificial-reality systems also includeoptical subsystems having one or more lenses (e.g., conventional concaveor convex lenses, Fresnel lenses, or adjustable liquid lenses) throughwhich a user may view a display screen. These systems and mechanisms arediscussed in further detail above with reference to FIG. 1.

In addition to or instead of using display screens, someartificial-reality systems include one or more projection systems. Forexample, display devices in the AR system 1100 and/or the VR system 1200may include micro-LED projectors that project light (e.g., using awaveguide) into display devices, such as clear combiner lenses thatallow ambient light to pass through. The display devices may refract theprojected light toward a user's pupil and may enable a user tosimultaneously view both artificial-reality content and the real world.Artificial-reality systems may also be configured with any othersuitable type or form of image projection system.

Artificial-reality systems may also include various types of computervision components and subsystems. For example, the AR system 1000, theAR system 1100, and/or the VR system 1200 may include one or moreoptical sensors such as two-dimensional (2D) or three-dimensional (3D)cameras, time-of-flight depth sensors, single-beam or sweeping laserrangefinders, 3D LiDAR sensors, and/or any other suitable type or formof optical sensor. An artificial-reality system may process data fromone or more of these sensors to identify a location of a user, to mapthe real world, to provide a user with context about real-worldsurroundings, and/or to perform a variety of other functions.

Artificial-reality systems may also include one or more input and/oroutput audio transducers. In the examples shown in FIGS. 10 and 12, theoutput audio transducers 1008(A), 1008(B), 1206(A), and 1206(B) mayinclude voice coil speakers, ribbon speakers, electrostatic speakers,piezoelectric speakers, bone conduction transducers, cartilageconduction transducers, and/or any other suitable type or form of audiotransducer. Similarly, the input audio transducers 1010 may includecondenser microphones, dynamic microphones, ribbon microphones, and/orany other type or form of input transducer. In some embodiments, asingle transducer may be used for both audio input and audio output.

The artificial reality systems shown in FIGS. 10-12 may include tactile(i.e., haptic) feedback systems, which may be incorporated intoheadwear, gloves, body suits, handheld controllers, environmentaldevices (e.g., chairs or floormats), and/or any other type of device orsystem, such as the wearable devices 120 discussed herein. Additionally,in some embodiments, the haptic feedback systems may be incorporatedwith the artificial reality systems (e.g., systems 1000, 1100, and 1200may include the wearable device 120 shown in FIG. 1). Haptic feedbacksystems may provide various types of cutaneous feedback, includingvibration, force, traction, shear, texture, and/or temperature. Hapticfeedback systems may also provide various types of kinesthetic feedback,such as motion and compliance. Haptic feedback may be implemented usingmotors, piezoelectric actuators, fluidic systems, and/or a variety ofother types of feedback mechanisms. Haptic feedback systems may beimplemented independently of other artificial-reality devices, withinother artificial reality devices, and/or in conjunction with otherartificial reality devices.

By providing haptic sensations, audible content, and/or visual content,artificial reality systems may create an entire virtual experience orenhance a user's real-world experience in a variety of contexts andenvironments. For instance, artificial reality systems may assist orextend a user's perception, memory, or cognition within a particularenvironment. Some systems may enhance a user's interactions with otherpeople in the real world or may enable more immersive interactions withother people in a virtual world. Artificial reality systems may also beused for educational purposes (e.g., for teaching or training inschools, hospitals, government organizations, military organizations, orbusiness enterprises), entertainment purposes (e.g., for playing videogames, listening to music, or watching video content), and/or foraccessibility purposes (e.g., as hearing aids or vision aids). Theembodiments disclosed herein may enable or enhance a user'sartificial-reality experience in one or more of these contexts andenvironments and/or in other contexts and environments.

Some AR systems map a user's environment using techniques referred to as“simultaneous location and mapping” (SLAM). SLAM mapping and locationidentifying techniques may involve a variety of hardware and softwaretools that can create or update a map of an environment whilesimultaneously keeping track of a device's or a user's location and/ororientation within the mapped environment. SLAM may use many differenttypes of sensors to create a map and determine a device's or a user'sposition within the map.

SLAM techniques may, for example, implement optical sensors to determinea device's or a user's location, position, or orientation. Radios,including Wi-Fi, Bluetooth, global positioning system (GPS), cellular orother communication devices may also be used to determine a user'slocation relative to a radio transceiver or group of transceivers (e.g.,a Wi-Fi router or group of GPS satellites). Acoustic sensors such asmicrophone arrays or 2D or 3D sonar sensors may also be used todetermine a user's location within an environment. AR and VR devices(such as the systems 1000, 1100, and 1200) may incorporate any or all ofthese types of sensors to perform SLAM operations such as creating andcontinually updating maps of a device's or a user's current environment.In at least some of the embodiments described herein, SLAM datagenerated by these sensors may be referred to as “environmental data”and may indicate a device's or a user's current environment. This datamay be stored in a local or remote data store (e.g., a cloud data store)and may be provided to a user's artificial-reality device on demand.

When a user is wearing an AR headset or VR headset in a givenenvironment, the user may be interacting with other users or otherelectronic devices that serve as audio sources. In some cases, it may bedesirable to determine where the audio sources are located relative tothe user and then present the audio sources to the user as if they werecoming from the location of the audio source. The process of determiningwhere the audio sources are located relative to the user may be referredto herein as “localization,” and the process of rendering playback ofthe audio source signal to appear as if it is coming from a specificdirection may be referred to herein as “spatialization.”

Localizing an audio source may be performed in a variety of differentways. In some cases, an AR or VR headset may initiate a Direction ofArrival (“DOA”) analysis to determine the location of a sound source.The DOA analysis may include analyzing the intensity, spectra, and/orarrival time of each sound at the AR/VR device to determine thedirection from which the sound originated. In some cases, the DOAanalysis may include any suitable algorithm for analyzing thesurrounding acoustic environment in which the artificial-reality deviceis located.

For example, the DOA analysis may be designed to receive input signalsfrom a microphone and apply digital signal processing algorithms to theinput signals to estimate the direction of arrival. These algorithms mayinclude, for example, delay and sum algorithms where the input signal issampled, and the resulting weighted and delayed versions of the sampledsignal are averaged together to determine a direction of arrival. Aleast mean squared (LMS) algorithm may also be implemented to create anadaptive filter. This adaptive filter may then be used to identifydifferences in signal intensity, for example, or differences in time ofarrival. These differences may then be used to estimate the direction ofarrival. In another embodiment, the DOA may be determined by convertingthe input signals into the frequency domain and selecting specific binswithin the time-frequency (TF) domain to process. Each selected TF binmay be processed to determine whether that bin includes a portion of theaudio spectrum with a direct-path audio signal. Those bins having aportion of the direct-path signal may then be analyzed to identify theangle at which a microphone array received the direct-path audio signal.The determined angle may then be used to identify the direction ofarrival for the received input signal. Other algorithms not listed abovemay also be used alone or in combination with the above algorithms todetermine DOA.

In some embodiments, different users may perceive the source of a soundas coming from slightly different locations. This may be the result ofeach user having a unique head-related transfer function (HRTF), whichmay be dictated by a user's anatomy, including ear canal length and thepositioning of the ear drum. The artificial-reality device may providean alignment and orientation guide, which the user may follow tocustomize the sound signal presented to the user based on a personalHRTF. In some embodiments, an AR or VR device may implement one or moremicrophones to listen to sounds within the user's environment. The AR orVR device may use a variety of different array transfer functions (ATFs)(e.g., any of the DOA algorithms identified above) to estimate thedirection of arrival for the sounds. Once the direction of arrival hasbeen determined, the artificial-reality device may play back sounds tothe user according to the user's unique HRTF. Accordingly, the DOAestimation generated using an ATF may be used to determine the directionfrom which the sounds are to be played from. The playback sounds may befurther refined based on how that specific user hears sounds accordingto the HRTF.

In addition to or as an alternative to performing a DOA estimation, anartificial-reality device may perform localization based on informationreceived from other types of sensors. These sensors may include cameras,infrared radiation (IR) sensors, heat sensors, motion sensors, globalpositioning system (GPS) receivers, or in some cases, sensor that detecta user's eye movements. For example, an artificial-reality device mayinclude an eye tracker or gaze detector that determines where a user islooking. Often, a user's eyes will look at the source of a sound, ifonly briefly. Such clues provided by the user's eyes may further aid indetermining the location of a sound source. Other sensors such ascameras, heat sensors, and IR sensors may also indicate the location ofa user, the location of an electronic device, or the location of anothersound source. Any or all of the above methods may be used individuallyor in combination to determine the location of a sound source and mayfurther be used to update the location of a sound source over time.

Some embodiments may implement the determined DOA to generate a morecustomized output audio signal for the user. For instance, an acoustictransfer function may characterize or define how a sound is receivedfrom a given location. More specifically, an acoustic transfer functionmay define the relationship between parameters of a sound at its sourcelocation and the parameters by which the sound signal is detected (e.g.,detected by a microphone array or detected by a user's ear). Anartificial-reality device may include one or more acoustic sensors thatdetect sounds within range of the device. A controller of theartificial-reality device may estimate a DOA for the detected sounds(e.g., using any of the methods identified above) and, based on theparameters of the detected sounds, may generate an acoustic transferfunction that is specific to the location of the device. This customizedacoustic transfer function may thus be used to generate a spatializedoutput audio signal where the sound is perceived as coming from aspecific location.

Once the location of the sound source or sources is known, theartificial-reality device may re-render (i.e., spatialize) the soundsignals to sound as if coming from the direction of that sound source.The artificial-reality device may apply filters or other digital signalprocessing that alter the intensity, spectra, or arrival time of thesound signal. The digital signal processing may be applied in such a waythat the sound signal is perceived as originating from the determinedlocation. The artificial-reality device may amplify or subdue certainfrequencies or change the time that the signal arrives at each ear. Insome cases, the artificial-reality device may create an acoustictransfer function that is specific to the location of the device and thedetected direction of arrival of the sound signal. In some embodiments,the artificial-reality device may re-render the source signal in astereo device or multi-speaker device (e.g., a surround sound device).In such cases, separate and distinct audio signals may be sent to eachspeaker. Each of these audio signals may be altered according to auser's HRTF and according to measurements of the user's location and thelocation of the sound source to sound as if they are coming from thedetermined location of the sound source. Accordingly, in this manner,the artificial-reality device (or speakers associated with the device)may re-render an audio signal to sound as if originating from a specificlocation.

Some embodiments include: a haptic device comprising: a wearablestructure to be worn on a portion of a user's body; and an inflatablebladder, coupled to the wearable structure at a target location, thatincludes opposing first and second surfaces, the inflatable bladderbeing configured to receive a fluid from a source, wherein the firstsurface of the inflatable bladder includes a plurality of barbspositioned to interact with the user's body at the target location, theplurality of barbs being configured to protrude from the first surfacein response to the inflatable bladder receiving the fluid from thesource.

In some embodiments, of the haptic device, the first surface of theinflatable bladder transitions from a concave shape to a convex shape inresponse to the inflatable bladder receiving the fluid from the source.

In some embodiments, of the haptic device, the convex shape of the firstsurface causes the plurality of barbs to protrude from the firstsurface.

In some embodiments, of the haptic device, the concave shape of thefirst surface of the inflatable bladder complements a profile of theuser's body at the target location.

In some embodiments, of the haptic device: barbs in the plurality ofbarbs are arranged in a predefined pattern; and the predefined patternis defined according to a profile of the user's body at the targetlocation.

In some embodiments, of the haptic device, respective shapes of thebarbs in the plurality of barbs are also defined according to theprofile of the user's body at the target location.

In some embodiments, of the haptic device, respective depths of thebarbs in the plurality of barbs are also defined according to theprofile of the user's body at the target location.

In some embodiments, of the haptic device: the first surface of theinflatable bladder is made from an elastic material; and the secondsurface of the inflatable bladder is (i) made from an inelastic materialand (ii) positioned to not interact with the portion of the user's body.

In some embodiments, of the haptic device, a roughness of the firstsurface of the inflatable bladder increases with a fluid pressure insidethe inflatable bladder.

In some embodiments, of the haptic device, the first surface of theinflatable bladder is configured to have a maximum roughness when thefluid pressure inside the inflatable bladder reaches a maximum pressure.

In some embodiments, of the haptic device, the plurality of barbsincluded with the first surface of the inflatable bladder is furtherconfigured to impart a haptic stimulation to the user's body at thetarget location in response to the inflatable bladder receiving thefluid from the source.

In some embodiments, of the haptic device: the first surface of theinflatable bladder has a first texture when a fluid pressure inside theinflatable bladder is at a first pressure; and the first surface of theinflatable bladder has a second texture when the fluid pressure insidethe inflatable bladder is at a second pressure greater than the firstpressure.

In some embodiments, of the haptic device: when the inflatable bladderis in a first pressurized state, the first surface of the inflatablebladder is adjacent to the second surface of the inflatable bladder; andwhen the inflatable bladder is in a second pressurized state, the firstsurface of the inflatable bladder bulges away from the second surface ofthe inflatable bladder, causing the plurality of barbs to protrude fromthe first surface.

In some embodiments, of the haptic device: when the inflatable bladderis in the first pressurized state, first distances separate barbs in theplurality of barbs; and when the inflatable bladder is in the secondpressurized state, second distances greater than the first distancesseparate the barbs in the plurality of barbs.

In some embodiments, of the haptic device, the inflatable bladder is afirst inflatable bladder and the plurality of barbs is a first pluralityof barbs, and the haptic device further comprises: a second inflatablebladder, coupled to the wearable structure at a different targetlocation, configured to receive the fluid from the source, wherein: asurface of the second inflatable bladder includes a second plurality ofbarbs positioned to interact with the user's body at the differenttarget location, the second plurality of barbs being configured toprotrude from the surface in response to the second inflatable bladderreceiving the fluid from the source, and the first plurality of barbsare arranged in a pattern that differs from a pattern of the secondplurality of barbs.

Some embodiments include an artificial-reality device comprising: apressure source; a computer in communication with the pressure source;and a haptic device that includes: a wearable structure to be worn on aportion of a user's body; and an inflatable bladder, coupled to thewearable structure at a target location, that includes opposing firstand second surfaces, the inflatable bladder being configured to receivea fluid from the pressure source, wherein the first surface of theinflatable bladder includes a plurality of barbs positioned to interactwith the user's body at the target location, the plurality of barbsbeing configured to protrude from the first surface in response to theinflatable bladder receiving the fluid from the pressure source.

Although some of various drawings illustrate a number of logical stagesin a particular order, stages that are not order dependent may bereordered and other stages may be combined or broken out. While somereordering or other groupings are specifically mentioned, others will beobvious to those of ordinary skill in the art, so the ordering andgroupings presented herein are not an exhaustive list of alternatives.Moreover, it should be recognized that the stages could be implementedin hardware, firmware, software, or any combination thereof.

The foregoing description, for purpose of explanation, has beendescribed with reference to specific embodiments. However, theillustrative discussions above are not intended to be exhaustive or tolimit the scope of the claims to the precise forms disclosed. Manymodifications and variations are possible in view of the aboveteachings. The embodiments were chosen in order to best explain theprinciples underlying the claims and their practical applications, tothereby enable others skilled in the art to best use the embodimentswith various modifications as are suited to the particular usescontemplated.

What is claimed is:
 1. A haptic device comprising: a wearable structureto be worn on a portion of a user's body; and at least one inflatablebladder, coupled to the wearable structure, that includes two or morepockets positioned at a target location on the wearable structure,wherein: the two or more pockets are configured to, when inflated,impart one or more directional forces onto the user at the targetlocation that impede movement of the portion of the user's body; the oneor more directional forces are caused by the two or more pocketsinterfering with each other, when inflated; and a magnitude of the oneor more directional forces corresponds to a fluid pressure inside thetwo or more pockets and a change in geometry of the two or more pocketscaused by the two or more pockets interfering with each other.
 2. Thehaptic device of claim 1, wherein two or more pockets comprise: a firstpocket with an end portion and a body portion; and a second pocket withan end portion and a body portion, wherein: (i) the end portion of thesecond pocket is coupled with the end portion of the first pocket toform a connection point, and (ii) the body portion of the second pocketis decoupled from the body portion of the first pocket.
 3. The hapticdevice of claim 2, wherein: when the two or more pockets are inflated,the first and second pockets are configured to expand such that the bodyportion of the second pocket and the body portion of the first pocketfan out away from the connection point; and when the two or more pocketsare not inflated, the first and second pockets are configured tocollapse such that the body portion of the second pocket and the bodyportion of the first pocket are adjacent to each other.
 4. The hapticdevice of claim 1, wherein: the at least one inflatable bladder furthercomprises an elongated substrate forming a first side of the respectiveinflatable bladder; and the two or more pockets (i) are coupled to anddistributed along a length of the elongated substrate and (ii) form asecond side of the respective inflatable bladder.
 5. The haptic deviceof claim 4, wherein: when the two or more pockets are inflated, eachpocket is configured to expand and interfere with at least one otherpocket of the two or more pockets; and when the two or more pockets arenot inflated, the two or more pockets do not impede free movement of theportion of the user's body.
 6. The haptic device of claim 4, wherein:the elongated substrate has a first elasticity; and the two or morepockets have a second elasticity that is greater than the firstelasticity.
 7. The haptic device of claim 6, wherein: the elongatedsubstrate is made from an inelastic textile; and the two or more pocketsare made from an elastic polymer.
 8. The haptic device of claim 4,wherein: the portion of the user's body is a hand of the user; and theelongated substrate is sized to fit along a palmar side of a firstfinger of the user's hand.
 9. The haptic device of claim 1, wherein: theportion of the user's body is a hand of the user; the target location isa finger joint on the user's hand; and the one or more directionalforces imparted onto the user at the target location impede flexion ofthe user's finger.
 10. The haptic device of claim 1, further comprisinga grounding assembly that is configured to secure the wearable structureand the at least one inflatable bladder to the user's body.
 11. Thehaptic device of claim 1, wherein: the two or more pockets have apredefined shape when inflated to a predefined pressure; and thepredefined shape is dependent, at least in part, on a wall thickness ofeach pocket of the two or more pockets.
 12. The haptic device of claim1, wherein: the at least one inflatable bladder is fluidically coupledto a source; and the two or more pockets are further configured to (i)receive a fluid from the source and (ii) expand in proportion with afluid pressure inside each pocket.
 13. The haptic device of claim 12,further comprises a switchable valve that is configured to switchbetween an open state and a closed state, wherein the switchable valveprevents the fluid from exiting the two or more pockets when in theclosed state.
 14. The haptic device of claim 12, wherein: the source isin communication with a computing device; and the source is configuredto change the fluid pressure of the two or more pockets in response toreceiving one or more signals from the computing device.
 15. The hapticdevice of claim 14, wherein: the computing device is in communicationwith a head-mounted display that presents content to the user, thehead-mounted display including an electronic display; and the one ormore signals correspond to content displayed on the electronic display.16. The haptic device of claim 14, further comprising one or moresensors, coupled to the wearable structure, configured to generatespatial and motion data corresponding to the user's movements, whereinthe spatial and motion data are communicated to the computing device.17. The haptic device of claim 16, wherein: the one or more signalsfurther correspond to the spatial and motion data corresponding to theuser's movements; and the one or more signals are generated by thecomputing device to impede movement of the portion of the user's body.18. The haptic device of claim 1, wherein the one or more directionalforces imparted onto the user at the target location simulate forcesinduced by physical objects at the target location during natural-objectinteraction.
 19. An artificial-reality device comprising: a pressuresource; a computer in communication with the pressure source; and ahaptic device that includes: a wearable structure configured to be wornon a portion of a user's body; and at least one inflatable bladder,coupled to the wearable structure, that includes two or more pocketspositioned at a target location on the wearable structure, wherein thetwo or more pockets are configured to, when inflated by the pressuresource, impart one or more directional forces onto the user at thetarget location that impede movement of the portion of the user's body,and wherein a magnitude of the one or more directional forcescorresponds to a fluid pressure inside the two or more pockets and achange in geometry of the two or more pockets caused by the two or morepockets interfering with each other.